add new func of obu track data color

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

@@ -1,6 +1,8 @@
 package com.mogo.eagle.core.function.map.identify
 
 import android.annotation.SuppressLint
+import android.text.TextUtils
+import android.util.Log
 import androidx.collection.ArraySet
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
@@ -12,7 +14,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.mogo.map.MogoMarkerManager
 import com.mogo.module.common.MogoApisHandler
 import mogo.telematics.pad.MessagePad
-import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.telematics.pad.MessagePad.*
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -140,6 +142,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
      *
      * @return 过滤后的数据集合
      */
+    @SuppressLint("NewApi")
     private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String, TrackedObject> {
         mFilterTrafficData.clear()
         trafficDataUuidList.clear()
@@ -153,6 +156,8 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
             //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
+
+                //预警颜色变化
                 if (colorTrafficData.containsKey(uuid)) {
                     val planningTrack = colorTrafficData[uuid]
                     if (!timeOut(planningTrack!!.time)) {
@@ -161,6 +166,24 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                         colorTrafficData.remove(uuid)
                     }
                 }
+
+                //OBU数据颜色标记
+                val first = data.trackedSourceList.stream()
+                    .filter { trackedSource: TrackedSource -> trackedSource.source == 4 }
+                    .findFirst()
+                if (first.isPresent) {
+                    val subFirst = first.get().subSourceList.stream()
+                        .filter { subSource: SubSource -> subSource.source == 1 }
+                        .findFirst()
+                    if (subFirst.isPresent) {
+                        val subID = subFirst.get().id
+                        if (!TextUtils.isEmpty(subID)) {
+                            Log.d("emarrow", "存在subsource为obu的数据")
+                            temp = data.toBuilder().setColor("FF1493").build()
+                        }
+                    }
+                }
+
                 mFilterTrafficData[uuid] = temp
             }
             mMarkersCaches[uuid] = temp

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.map.identify;
 
 import android.annotation.SuppressLint;
 import android.os.Build;
+import android.text.TextUtils;
 import android.util.Log;
 
 import androidx.annotation.RequiresApi;
@@ -20,6 +21,7 @@ import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
+import java.util.Optional;
 import java.util.concurrent.ConcurrentHashMap;
 
 import mogo.telematics.pad.MessagePad;
@@ -122,6 +124,19 @@ public class TrackManager {
                 }
             }
 
+            Optional<MessagePad.TrackedSource> first = data.getTrackedSourceList().stream()
+                    .filter(trackedSource -> trackedSource.getSource() == 4).findFirst();
+            if (first.isPresent()) {
+                Optional<MessagePad.SubSource> subFirst = first.get().getSubSourceList().stream().filter(subSource -> subSource.getSource() == 1).findFirst();
+                if (subFirst.isPresent()) {
+                    String subID = subFirst.get().getId();
+                    if (!TextUtils.isEmpty(subID)) {
+                        Log.d("emarrow","存在subsource为obu的数据");
+                        data = data.toBuilder().setColor("FF1493").build();
+                    }
+                }
+            }
+
             if (trackObj != null) {
                 trackObj.updateObj(data);
             } else {
@@ -152,7 +167,7 @@ public class TrackManager {
                     trackObj = new TrackObj(data);
                 }
             }
-            Log.d("0823-arrow","uuid : " + uuid);
+            Log.d("0823-arrow", "uuid : " + uuid);
             mFilterTrafficData.put(uuid, trackObj.getCache());
             cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
             mMarkersCaches.put(uuid, trackObj);

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -83,7 +83,7 @@ message Trajectory
 // message definition for MsgTypeTrackedObjects
 message SubSource
 {
-    uint32 source = 1; //[default = 0] v2v_bsm = 1 v2i_rsm = 2 v2v_ssm = 3 v2n_rsm = 4
+    uint32 source = 1; //[default = 0] v2v_bsm = 1(v2x他车自车信息) v2i_rsm = 2(v2x路侧感知交通参与者信息) v2v_ssm = 3(v2x他车感知信息) v2n_cloud = 4(v2x云端感知信息)
     string id = 2; //HEX_string
 }