[8.1.2][feat]决策功能用动画实现

2025-07-10 14:37:29 +08:00
parent 64fcdc0422
commit 67ce8b1c8c
26 changed files with 843 additions and 111 deletions
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -105,24 +105,26 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
                    predictionObjects.objsAppList.forEach { preObj ->
                        val points = ArrayList<MogoLatLng>()
                        if (preObj.mNid == 800000L) {
-                            // 自车有2条轨迹，一条概率大、一条概率小
-                            if (preObj.predictionTrajectoryList == null || preObj.predictionTrajectoryList.size < 2) return@forEach
-                            carPoiList1 = preObj.predictionTrajectoryList[0].trajectoryPointsList
-                            carPoiList2 = preObj.predictionTrajectoryList[1].trajectoryPointsList
-                            location1 = LocationUtils.generateLocation(carPoiList1!![0].x, carPoiList1!![0].y, getLocationHeading())
-                            location2 = LocationUtils.generateLocation(carPoiList2!![0].x, carPoiList2!![0].y, getLocationHeading())
-                            if (location1 == null || location2 == null) return@forEach
-                            probability1 = preObj.predictionTrajectoryList[0].predictionProbability
-                            probability2 = preObj.predictionTrajectoryList[1].predictionProbability
-                            CallerAutopilotIdentifyListenerManager.invokeProbabilityChanged(probability1, probability2)
+//                            // 自车有2条轨迹，一条概率大、一条概率小
+//                            if (preObj.predictionTrajectoryList == null || preObj.predictionTrajectoryList.size < 2) return@forEach
+//                            carPoiList1 = preObj.predictionTrajectoryList[0].trajectoryPointsList
+//                            carPoiList2 = preObj.predictionTrajectoryList[1].trajectoryPointsList
+//                            location1 = LocationUtils.generateLocation(carPoiList1!![0].x, carPoiList1!![0].y, getLocationHeading())
+//                            location2 = LocationUtils.generateLocation(carPoiList2!![0].x, carPoiList2!![0].y, getLocationHeading())
+//                            if (location1 == null || location2 == null) return@forEach
+//                            probability1 = preObj.predictionTrajectoryList[0].predictionProbability
+//                            probability2 = preObj.predictionTrajectoryList[1].predictionProbability
+//                            CallerAutopilotIdentifyListenerManager.invokeProbabilityChanged(probability1, probability2)

-                            PredictionDataManager.getInstance()?.updateData(carPoiList1!!, 0)
-                            PredictionDataManager.getInstance()?.updateData(carPoiList2!!, 2)
+//                            PredictionDataManager.getInstance()?.updateData(carPoiList1!!, 0)
+//                            PredictionDataManager.getInstance()?.updateData(carPoiList2!!, 2)
                        } else {
                            if (isUnKnownType(preObj.classtype) || preObj.predictionTrajectoryList.isNullOrEmpty() || mogoMap == null) return@forEach
                            point = preObj.predictionTrajectoryList[0].trajectoryPointsList[0]
                            arr = mogoMap.switchData(point.x, point.y, false)
                            arr?.let { lonLatArr ->
+                                // 感知物不在当前视椎体内则不渲染其预测轨迹
+                                if (!mogoMap.isInCurrentFrame(lonLatArr[0], lonLatArr[1])) return@forEach
                                val distance = com.mogo.eagle.core.utilcode.util.LocationUtils.getDistance(getWgs84Lat(), getWgs84Lon(), lonLatArr[1], lonLatArr[0])
                                if (distance > 28) return@forEach
                            }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -131,16 +131,12 @@ public class MogoRouteOverlayManager implements
 //        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
        if (isArriveAtStation && autoPilotState != 2) {
            RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
-            PredictionOverlayDrawer2.getInstance().clearPreRouteOverlay();
-            PredictionOverlayDrawer3.getInstance().clearPreRouteOverlay();
            return;
        }
 //        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
        boolean force = hasGreenWave.get() || FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
        if (!force && autoPilotState != 2) {
            RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
-            PredictionOverlayDrawer2.getInstance().clearPreRouteOverlay();
-            PredictionOverlayDrawer3.getInstance().clearPreRouteOverlay();
            return;
        }
 //        Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
@@ -148,7 +148,7 @@ public class PredictionOverlayDrawer {
                    builder.color(Color.argb(102,48,163,255));
                    builder.setIsGradient(true);
                    builder.setLightOn(false);
-                    builder.setIsDottedLine(true);
+                    builder.setIsDottedLine(false);
                    builder.isShowArrow(false);
                    builder.points(pps);
                    builder.setVisible(true);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt
@@ -3,25 +3,40 @@ package com.mogo.eagle.core.function.view
 import android.annotation.SuppressLint
 import android.content.Context
 import android.os.Bundle
+import android.os.SystemClock
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
-import com.mogo.eagle.core.function.business.routeoverlay.DecisionDataManager
-import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager
 import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.shuyu.gsyvideoplayer.GSYVideoManager
+import com.shuyu.gsyvideoplayer.builder.GSYVideoOptionBuilder
+import com.shuyu.gsyvideoplayer.model.VideoOptionModel
+import com.shuyu.gsyvideoplayer.player.IjkPlayerManager
+import com.shuyu.gsyvideoplayer.player.PlayerFactory
+import com.shuyu.gsyvideoplayer.utils.GSYVideoType
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre1
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre2
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre3
-import me.jessyan.autosize.utils.AutoSizeUtils
+import kotlinx.android.synthetic.main.layout_decision_video_container.view.decContent1
+import kotlinx.android.synthetic.main.layout_decision_video_container.view.decContent2
+import kotlinx.android.synthetic.main.layout_decision_video_container.view.decContent3
+import kotlinx.android.synthetic.main.layout_decision_video_container.view.decMapView
+import kotlinx.android.synthetic.main.layout_decision_video_container.view.preDetailView2
+import kotlinx.android.synthetic.main.layout_decision_video_container.view.preDetailView3
+import mogo.telematics.pad.MessagePad
+import tv.danmaku.ijk.media.player.IjkMediaPlayer
+import kotlin.random.Random

 class DecisionLayout @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null
-) : ConstraintLayout(context, attrs), IMoGoAutopilotIdentifyListener {
+) : ConstraintLayout(context, attrs), IMoGoAutopilotIdentifyListener,
+    IMoGoAutopilotPlanningActionsListener {

    companion object {
        private const val TAG = "DecisionLayout"
@@ -32,6 +47,21 @@ class DecisionLayout @JvmOverloads constructor(

    private var carType = 0

+    private val gsyVideoOptionBuilder1 by lazy {
+        GSYVideoOptionBuilder()
+    }
+    private var lastUrl1 = ""
+
+    private val gsyVideoOptionBuilder2 by lazy {
+        GSYVideoOptionBuilder()
+    }
+    private var lastUrl2 = ""
+
+    private val gsyVideoOptionBuilder3 by lazy {
+        GSYVideoOptionBuilder()
+    }
+    private var lastUrl3 = ""
+
    init {
        initView(attrs)
    }
@@ -40,21 +70,26 @@ class DecisionLayout @JvmOverloads constructor(
        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.CarMapLayout)
        carType = typedArray.getInt(R.styleable.CarMapLayout_car_type, 0)
        typedArray.recycle()
-        when (carType) {
-            0 -> LayoutInflater.from(context).inflate(R.layout.layout_decision_container, this, true)
-            else -> LayoutInflater.from(context).inflate(R.layout.layout_b2_decision_container, this, true)
-        }
-        storeWidthAndHeight()
+//        when (carType) {
+//            0 -> LayoutInflater.from(context).inflate(R.layout.layout_decision_container, this, true)
+//            else -> LayoutInflater.from(context).inflate(R.layout.layout_b2_decision_container, this, true)
+//        }
+        LayoutInflater.from(context).inflate(R.layout.layout_decision_video_container, this, true)
+//        storeWidthAndHeight()
+        initViews()
+        initVideos()
    }

    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+        CallerPlanningActionsListenerManager.addListener(TAG, this)
    }

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        CallerPlanningActionsListenerManager.removeListener(TAG)
    }

    fun onCreate(savedInstanceState: Bundle?) {
@@ -66,30 +101,6 @@ class DecisionLayout @JvmOverloads constructor(
    fun onResume() {
    }

-    @SuppressLint("SetTextI18n")
-    override fun onPredictionProbabilityChanged(pro1: Float, pro2: Float) {
-        if (System.currentTimeMillis() - lastTime >= 1000) {
-            ThreadUtils.runOnUiThread {
-                val prob1: Int
-                val prob2: Int
-                val prob3: Int
-                if (pro1 + pro2 < 50) {
-                    prob1= (pro1*100).toInt()
-                    prob3= (pro2*100).toInt()
-                    prob2 = 100 - prob1 - prob3
-                } else {
-                    prob1 = 15 * (pro1 / (pro1 + pro2)).toInt()
-                    prob3 = 15 * (pro2 / (pro1 + pro2)).toInt()
-                    prob2 = 100 - prob1 - prob3
-                }
-                tvPre1.text = "${prob1}%"
-                tvPre3.text = "${prob3}%"
-                tvPre2.text = "${prob2}%"
-            }
-            lastTime = System.currentTimeMillis()
-        }
-    }
-
    fun onLowMemory() {
    }

@@ -99,25 +110,214 @@ class DecisionLayout @JvmOverloads constructor(
    fun onDestroy() {
    }

-    private fun storeWidthAndHeight() {
-        UiThreadHandler.post {
-            when (carType) {
-                // 默认值为对应0，不需要赋值
-                1 -> {
-                    val decWid = AutoSizeUtils.dp2px(context, 110f)
-                    val decHet = AutoSizeUtils.dp2px(context, 211f)
-                    val mapWid = AutoSizeUtils.dp2px(context, 996f)
-                    val mapHet = AutoSizeUtils.dp2px(context, 650f)
-                    PredictionDataManager.getInstance()?.decWidth = decWid
-                    PredictionDataManager.getInstance()?.decHeight = decHet
-                    PredictionDataManager.getInstance()?.mapWidth = mapWid
-                    PredictionDataManager.getInstance()?.mapHeight = mapHet
-                    DecisionDataManager.getInstance()?.decWidth = decWid
-                    DecisionDataManager.getInstance()?.decHeight = decHet
-                    DecisionDataManager.getInstance()?.mapWidth = mapWid
-                    DecisionDataManager.getInstance()?.mapHeight = mapHet
-                }
+    private var state = -1
+    private var action = -1
+    override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
+        val actionMsg = planningActionMsg.actionMsg
+        val s = actionMsg.drivingState.number
+        val a = actionMsg.drivingAction.number
+        if(s == state && a == action){
+            return
+        } else {
+            state = s
+            action = a
+        }
+        var type = -1
+        if (actionMsg.drivingState == MessagePad.DrivingState.START_UP && actionMsg.drivingAction == MessagePad.DrivingAction.DRIVING_ACTION_STATE_ONE) {
+            type = 0// 出站
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.PULL_OVER && actionMsg.drivingAction == MessagePad.DrivingAction.DRIVING_ACTION_STATE_ONE) {
+            type = 1// 进站
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.LANKE_KEEP && actionMsg.drivingAction == MessagePad.DrivingAction.DRIVING_ACTION_STATE_ONE) {
+            type = 2// 车道保持
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.FOLLOW_LANE_CHANGE_LEFT) {//actionMsg.drivingAction == MessagePad.DrivingAction.DRIVING_ACTION_STATE_TWO
+            type = 3// 向左变道
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.FOLLOW_LANE_CHANGE_RIGHT) {
+            type = 4// 向右变道
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.LANE_AVOID_LEFT) {
+            type = 5// 向左变道绕障
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.LANE_AVOID_RIGHT) {
+            type = 6// 向右变道绕障
+        } else if (actionMsg.drivingState == MessagePad.DrivingState.TRAFFIC_LIGHT) {// 距离停止线前15m内且是红灯才会发送该状态
+        }
+
+        if (type >= 0) {
+            ThreadUtils.runOnUiThread {
+                updateAnim(type)
            }
        }
    }
+
+    @SuppressLint("SetTextI18n")
+    private fun updateAnim(type: Int) {
+        val randomNum = 80 + Random(SystemClock.elapsedRealtime()).nextInt(16)
+        val last = 100 - randomNum
+        val pre1 = Random(SystemClock.elapsedRealtime()).nextInt(last+1)
+        val pre2 = last - pre1
+        tvPre1.text = "${pre1}%"
+        tvPre3.text = "${randomNum}%"
+        tvPre2.text = "${pre2}%"
+
+        when (type) {
+            0 -> {
+                decContent1.text = "停车等待"
+                decContent2.text = "变道出站"
+                decContent3.text = "直行出站"
+
+                gsyVideoPlay(getRawPath(R.raw.wujuece))
+                gsyVideoPlay2(getRawPath(R.raw.zuohuandao))
+                gsyVideoPlay3(getRawPath(R.raw.zhixing))
+            }
+
+            1 -> {
+                decContent1.text = "车道保持"
+                decContent2.text = "进站停车"
+                decContent3.text = "向右变道"
+
+                gsyVideoPlay(getRawPath(R.raw.zhixing))
+                gsyVideoPlay2(getRawPath(R.raw.youhuandao))
+                gsyVideoPlay3(getRawPath(R.raw.youhuandao))
+            }
+
+            2 -> {
+                decContent1.text = "向左变道"
+                decContent2.text = "车道保持"
+                decContent3.text = "向右变道"
+
+                gsyVideoPlay(getRawPath(R.raw.zuohuandao))
+                gsyVideoPlay2(getRawPath(R.raw.zhixing))
+                gsyVideoPlay3(getRawPath(R.raw.youhuandao))
+            }
+
+            3 -> {
+                decContent1.text = "车道保持"
+                decContent2.text = "向左变道"
+                decContent3.text = "向右变道"
+
+                gsyVideoPlay(getRawPath(R.raw.zhixing))
+                gsyVideoPlay2(getRawPath(R.raw.zuohuandao))
+                gsyVideoPlay3(getRawPath(R.raw.youhuandao))
+            }
+
+            4 -> {
+                decContent1.text = "向左变道"
+                decContent2.text = "向右变道"
+                decContent3.text = "车道保持"
+
+                gsyVideoPlay(getRawPath(R.raw.zuohuandao))
+                gsyVideoPlay2(getRawPath(R.raw.youhuandao))
+                gsyVideoPlay3(getRawPath(R.raw.zhixing))
+            }
+
+            5 -> {
+                decContent1.text = "车道保持"
+                decContent2.text = "向左变道绕障"
+                decContent3.text = "向右变道绕障"
+
+                gsyVideoPlay(getRawPath(R.raw.zhixing))
+                gsyVideoPlay2(getRawPath(R.raw.zuobizhang))
+                gsyVideoPlay3(getRawPath(R.raw.youbizhang))
+            }
+
+            6 -> {
+                decContent1.text = "向左变道绕障"
+                decContent2.text = "向右变道绕障"
+                decContent3.text = "车道保持"
+
+                gsyVideoPlay(getRawPath(R.raw.zuobizhang))
+                gsyVideoPlay2(getRawPath(R.raw.youbizhang))
+                gsyVideoPlay3(getRawPath(R.raw.zhixing))
+            }
+
+            7 -> {
+                decContent1.text = "直行通过路口"
+                decContent2.text = "左转通过路口"
+                decContent3.text = "右转通过路口"
+
+                gsyVideoPlay(getRawPath(R.raw.zhixing))
+                gsyVideoPlay2(getRawPath(R.raw.lukouzuozhuan))
+                gsyVideoPlay3(getRawPath(R.raw.lukouyouzhuan))
+            }
+
+            8 -> {
+                decContent1.text = "左转通过路口"
+                decContent2.text = "直行通过路口"
+                decContent3.text = "右转通过路口"
+
+                gsyVideoPlay(getRawPath(R.raw.lukouzuozhuan))
+                gsyVideoPlay2(getRawPath(R.raw.lukouzhixing))
+                gsyVideoPlay3(getRawPath(R.raw.lukouyouzhuan))
+            }
+
+            9 -> {
+                decContent1.text = "左转通过路口"
+                decContent2.text = "右转通过路口"
+                decContent3.text = "直行通过路口"
+
+                gsyVideoPlay(getRawPath(R.raw.lukouzuozhuan))
+                gsyVideoPlay2(getRawPath(R.raw.lukouyouzhuan))
+                gsyVideoPlay3(getRawPath(R.raw.lukouzhixing))
+            }
+        }
+    }
+
+    private fun initViews() {
+    }
+
+    private fun initVideos() {
+        val list: MutableList<VideoOptionModel> = ArrayList()
+        list.add(VideoOptionModel(IjkMediaPlayer.OPT_CATEGORY_PLAYER, "reconnect", 3))
+        GSYVideoManager.instance().optionModelList = list
+        GSYVideoType.setShowType(GSYVideoType.SCREEN_MATCH_FULL)
+        GSYVideoType.setRenderType(GSYVideoType.TEXTURE)
+        PlayerFactory.setPlayManager(IjkPlayerManager::class.java)
+    }
+
+    private fun gsyVideoPlay(flvUrl: String) {
+        if (flvUrl == lastUrl1) return
+        lastUrl1 = flvUrl
+        gsyVideoOptionBuilder1.setUrl(flvUrl)
+            .setCacheWithPlay(false)
+            .setAutoFullWithSize(false)
+            .setIsTouchWigetFull(false)
+            .setIsTouchWiget(false)
+            .setLooping(true)
+            .setPlayTag(TAG)
+            .setPlayPosition(0)
+            .build(preDetailView2)
+        preDetailView2.startPlayLogic()
+    }
+
+    private fun gsyVideoPlay2(flvUrl: String) {
+        if (flvUrl == lastUrl2) return
+        lastUrl2 = flvUrl
+        gsyVideoOptionBuilder2.setUrl(flvUrl)
+            .setCacheWithPlay(false)
+            .setAutoFullWithSize(false)
+            .setIsTouchWigetFull(false)
+            .setIsTouchWiget(false)
+            .setLooping(true)
+            .setPlayTag(TAG)
+            .setPlayPosition(1)
+            .build(decMapView)
+        decMapView.startButton.performClick()
+    }
+
+    private fun gsyVideoPlay3(flvUrl: String) {
+        if (flvUrl == lastUrl3) return
+        lastUrl3 = flvUrl
+        gsyVideoOptionBuilder3.setUrl(flvUrl)
+            .setCacheWithPlay(false)
+            .setAutoFullWithSize(false)
+            .setIsTouchWigetFull(false)
+            .setLooping(true)
+            .setIsTouchWiget(false)
+            .setPlayTag(TAG)
+            .setPlayPosition(2)
+            .build(preDetailView3)
+        preDetailView3.startButton.performClick()
+    }
+
+    private fun getRawPath(resId: Int): String {
+        return "android.resource://${context.packageName}/$resId"
+    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_decision_video_container.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_decision_video_container.xml
@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
+
+    <com.mogo.eagle.core.widget.media.video.MultiVideoPlayer
+        android:id="@+id/preDetailView2"
+        android:layout_width="238dp"
+        android:layout_height="458dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginStart="@dimen/dp_27"
+        android:layout_marginBottom="24dp"
+        />
+
+    <com.mogo.eagle.core.widget.media.video.MultiVideoPlayer
+        android:id="@+id/decMapView"
+        android:layout_width="238dp"
+        android:layout_height="458dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginBottom="24dp"
+        app:map_index="1"
+        />
+
+    <com.mogo.eagle.core.widget.media.video.MultiVideoPlayer
+        android:id="@+id/preDetailView3"
+        android:layout_width="238dp"
+        android:layout_height="458dp"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginEnd="@dimen/dp_27"
+        android:layout_marginBottom="20dp"
+        app:map_index="2"
+        />
+
+    <TextView
+        android:id="@+id/tvDecTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="AI Decision-making"
+        android:textColor="#394047"
+        android:textSize="32dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="@dimen/dp_28"
+        />
+
+    <TextView
+        android:id="@+id/tvPre1"
+        android:layout_width="62dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:gravity="center"
+        android:layout_marginStart="@dimen/dp_116"
+        android:layout_marginTop="@dimen/dp_70"
+        tools:text="11%"
+        android:textColor="#63707D"
+        android:textSize="33dp"
+        />
+
+    <TextView
+        android:id="@+id/tvPre2"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="@dimen/dp_70"
+        tools:text="86%"
+        android:textColor="#2EACFF"
+        android:textSize="33dp"
+        />
+
+    <TextView
+        android:id="@+id/tvPre3"
+        android:layout_width="62dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginEnd="@dimen/dp_116"
+        android:layout_marginTop="@dimen/dp_70"
+        android:gravity="center"
+        tools:text="3%"
+        android:textColor="#63707D"
+        android:textSize="33dp"
+        />
+
+    <TextView
+        android:id="@+id/decContent1"
+        android:layout_width="156dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginStart="@dimen/dp_68"
+        android:layout_marginTop="@dimen/dp_112"
+        android:gravity="center"
+        tools:text="向左变道绕障"
+        android:textColor="#63707D"
+        android:textSize="26dp"
+        />
+
+    <TextView
+        android:id="@+id/decContent2"
+        android:layout_width="156dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="@dimen/dp_112"
+        android:gravity="center"
+        tools:text="向右变道绕障"
+        android:textColor="#2EACFF"
+        android:textSize="26dp"
+        />
+
+    <TextView
+        android:id="@+id/decContent3"
+        android:layout_width="156dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginEnd="@dimen/dp_68"
+        android:layout_marginTop="@dimen/dp_112"
+        android:gravity="center"
+        tools:text="直行"
+        android:textColor="#63707D"
+        android:textSize="26dp"
+        />
+</merge>
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/chu_zhan.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/chu_zhan.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/lukouyouzhuan.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/lukouyouzhuan.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/lukouzhixing.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/lukouzhixing.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/lukouzuozhuan.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/lukouzuozhuan.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/wujuece.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/wujuece.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/youbizhang.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/youbizhang.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/youhuandao.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/youhuandao.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/zhixing.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/zhixing.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/zuobizhang.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/zuobizhang.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/zuohuandao.mp4
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/zuohuandao.mp4
--- a/core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml
@@ -84,7 +84,7 @@
    <declare-styleable name="CarMapLayout">
        <attr name="car_type" format="enum" >
            <enum name="Taxi" value="0" />
-            <enum name="B2" value="1" /> />
+            <enum name="B2" value="1" />
        </attr>
    </declare-styleable>
 </resources>