[3.4.0-map-sdk] update ,wait to test

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/impl/V2XScenarioManager.java

@@ -3,8 +3,6 @@ package com.mogo.eagle.function.biz.v2x.v2n.scenario.impl;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
 import static com.mogo.map.MogoMap.DEFAULT;
 
-import androidx.localbroadcastmanager.content.LocalBroadcastManager;
-
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.eagle.core.data.config.HmiBuildConfig;
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
@@ -26,24 +24,19 @@ import com.mogo.map.uicontroller.VisualAngleMode;
  * version: 1.0
  */
 public class V2XScenarioManager implements IV2XScenarioManager {
-    private static V2XScenarioManager mV2XScenarioManager;
     private static final String TAG = "V2XScenarioManager";
     private AbsV2XScenario mV2XScenario = null;
 
     private V2XScenarioManager() {
     }
 
-    public static V2XScenarioManager getInstance() {
-        if (mV2XScenarioManager == null) {
-            synchronized (V2XScenarioManager.class) {
-                if (mV2XScenarioManager == null) {
-                    mV2XScenarioManager = new V2XScenarioManager();
-                }
-            }
-        }
-        return mV2XScenarioManager;
+    private static final class MV2XScenarioManagerHolder {
+        static final V2XScenarioManager mV2XScenarioManager = new V2XScenarioManager();
     }
 
+    public static V2XScenarioManager getInstance() {
+        return MV2XScenarioManagerHolder.mV2XScenarioManager;
+    }
 
     @Override
     public void handlerMessage(V2XMessageEntity v2XMessageEntity) {

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

@@ -116,15 +116,15 @@ class AiRoadMarker {
                     V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
                     return@post
                 }
-                if(l1.points.isEmpty() || l2.points.isEmpty()){
+                if(l1!!.points.isEmpty() || l2!!.points.isEmpty()){
                     V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
                     return@post
                 }
-                V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
+                V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2!!)
                 val points = LinkedList<MogoLatLng>()
-                if (l2 != null && l2.points.isNotEmpty()) {
-                    points.addAll(l2.points.reversed().map {
-                        MogoLatLng(it.second, it.first)
+                if (l2 != null && l2!!.points.isNotEmpty()) {
+                    points.addAll(l2!!.points.reversed().map {
+                        MogoLatLng(it.latitude, it.longitude)
                     })
                 }
                 val centerX = marker.poi_lon
@@ -150,17 +150,17 @@ class AiRoadMarker {
                 } ?: MogoLatLng(centerY, centerX)
                 marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
                 V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
-                if (l1 != null && l1.points.isNotEmpty()) {
-                    for (l in l1.points) {
+                if (l1 != null && l1!!.points.isNotEmpty()) {
+                    for (l in l1!!.points) {
                         if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
                                 farthestPoint.lon,
                                 farthestPoint.lat,
-                                l.first,
-                                l.second,
+                                l.longitude,
+                                l.latitude,
                                 (location.heading + 180)
                             ) < 90L
                         ) {
-                            points.add(l.let { MogoLatLng(it.second, it.first) })
+                            points.add(l.let { MogoLatLng(it.latitude, it.longitude) })
                         }
                     }
                 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -294,6 +294,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    @SuppressLint("SetTextI18n")
     private fun initView() {
         post {
             val maxHeight = ScreenUtils.getScreenHeight() - BarUtils.getStatusBarHeight()
@@ -1033,7 +1034,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         //设置连接司机屏IP
         btnConnectServerIp.setOnClickListener {
             val ip = etConnectServerIp.text.toString()
-            if (!ip.isNullOrEmpty()) {
+            if (!ip.isEmpty()) {
                 CallerAutoPilotControlManager.connectSpecifiedServer(ip)
             }
         }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt

@@ -1,15 +1,12 @@
 package com.mogo.eagle.core.function.main
 
-import android.Manifest
 import android.content.Intent
 import android.content.pm.PackageManager
 import android.net.Uri
-import android.os.Build
 import android.os.Bundle
 import android.provider.Settings
 import android.view.*
 import android.widget.FrameLayout
-import androidx.core.app.ActivityCompat
 import androidx.recyclerview.widget.LinearLayoutManager
 import com.kwai.koom.base.MonitorManager.addMonitorConfig
 import com.kwai.koom.nativeoom.leakmonitor.LeakListener
@@ -84,14 +81,12 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         initConnectInfoRV()
         CallerHmiManager.init(this)
 
-        //申请悬浮窗权限
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
-            // 检查是否有悬浮窗权限
-            if (Settings.canDrawOverlays(this)) {
-                return
-            }
-            PermissionsDialogUtils.openAppDetails(this, "显示悬浮窗", REQUEST_CODE_DIALOG)
+        // 检查是否有悬浮窗权限
+        if (Settings.canDrawOverlays(this)) {
+            return
         }
+        //申请悬浮窗权限
+        PermissionsDialogUtils.openAppDetails(this, "显示悬浮窗", REQUEST_CODE_DIALOG)
     }
 
     private fun injectStatusBar() {
@@ -116,7 +111,6 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         decorView.addView(statusBarView, statusBarLP)
     }
 
-
     // todo 优化 车聊聊
     private fun injectFloatView() {
         val decorView = this.window.decorView as? FrameLayout ?: return

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

@@ -5,9 +5,9 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
-import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
 import java.math.BigDecimal
 
 /**
@@ -47,26 +47,20 @@ class MapPointCloudSubscriber private constructor()
                 if (!isDrawPointCloud) {
                     CallerLogger.d(M_MAP + TAG, "====开启点云渲染====")
                     isDrawPointCloud = true
-                    PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
+                    CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(true)
                 }
-                PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
+                CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(true) //打开点云绘制
 
-                /**
-                 * 更新点云数据
-                 * @param dataStr 点云数据
-                 * @param isTrasformer 是否需要转换坐标
-                 * @param isResidual 是否需要差量更新
-                 * @param isStrong 是否加粗显示
-                 * @return 是否执行
-                 */
                 CallerLogger.d(M_MAP + TAG, "====开始传入地图点云数据====")
-                val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
+                val result = CallerMapUIServiceManager.getMapUIController()?.updatePointCloud(pointCloud,
+                    isTrasformer = true, isResidual = false, isReset = false
+                )
                 CallerLogger.d(M_MAP + TAG, "====结束传入地图点云数据=====$result")
             } else {
                 if (isDrawPointCloud) {
                     CallerLogger.d(M_MAP + TAG, "====停止点云绘制====")
                     isDrawPointCloud = false
-                    PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
+                    CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(false)//停止点云绘制
                 }
             }
         } catch (e: Exception) {
@@ -83,10 +77,10 @@ class MapPointCloudSubscriber private constructor()
         // MAP_RoboBus_B1_3.3.0_lxw_20230526_old_dev
         val dockerVersionName = AppConfigInfo.dockerVersion
         // "." 分割，取前两位
-        val dockerVersionNameArray = dockerVersionName?.split(".")
+        val dockerVersionNameArray = dockerVersionName.split(".")
 
         var dockerVersionCode = ""
-        dockerVersionNameArray?.let {
+        dockerVersionNameArray.let {
             if (it.size >= 3) {
                 for (index in 0 until 3) {
                     dockerVersionCode +=

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.business.ai
 
 import android.content.Context
 import android.os.Handler
+import android.os.Looper
 import android.os.Message
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
@@ -68,7 +69,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
     @Volatile
     private var cloudDataSize = 0
 
-    private val handler = Handler {
+    private val handler = Handler(Looper.getMainLooper()) {
         if (it.what == H_ERROR_CLOUD) {
             if (!aiCloudDataChange.get()) {
                 MapBizTrace.log(

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/cachemap/CacheHDMapManager.kt

@@ -8,7 +8,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.map.MogoData.Companion.mogoMapData
 
-//todo emaArrow 多实例影响到的业务，进行测试
 object CacheHDMapManager {
 
     private const val TAG = "CacheHDMapManager"

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

@@ -6,7 +6,6 @@ import com.mogo.map.MoGoOverlayManager.overlay
 import com.mogo.map.location.GDLocationClient.Companion.gdLocationClient
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.map.IMogoMapService
-import com.mogo.map.MogoMap
 import com.mogo.map.uicontroller.IMogoMapUIController
 import com.mogo.map.overlay.IMoGoOverlayManager
 import com.mogo.map.MogoMap.Companion.mapInstance
@@ -22,7 +21,7 @@ import com.mogo.map.location.IMogoGDLocationClient
 @Route(path = MogoServicePaths.PATH_SERVICES_MAP)
 class MogoMapService : IMogoMapService {
 
-    override fun getMapUIController(mapTag:String): IMogoMapUIController {
+    override fun getMapUIController(mapTag:String): IMogoMapUIController? {
         return mapInstance.getMogoMap().uiController
     }
 

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

@@ -11,7 +11,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Liste
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.map.MogoMapView
 import com.mogo.map.uicontroller.IMogoMapUIController
@@ -79,9 +78,9 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
 
     override fun onSkinModeChange(skinMode: Int) {
         if (skinMode == 0) {
-            getUI().stepInVrMode(false)
+            getUI().stepInDayMode(false)
         } else if (skinMode == 1) {
-            getUI().stepInVrMode(true)
+            getUI().stepInDayMode(true)
         }
     }