Merge branch 'dev_robotaxi-d_230912_6.1.0' into dev_minibus-d_230926_6.1.0

# Conflicts: # OCH/mogo-och-common-module/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt # OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
2023-09-26 19:35:13 +08:00
parent 412f0dbd45 404971dc53
commit 7667272d59
18 changed files with 918 additions and 138 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -131,89 +131,91 @@ class AiRoadMarker {
        l2: CenterLine?,
        heading: Double
    ) {
-        if (countDown.get() != 2) {
-            return
-        }
-        if (l1 == null || l2 == null) {
-            V2XBizTrace.onAck("$TAG --- marker --- 3 --- line null return ----", "")
-            return
-        }
-        if (l1.points.isEmpty() || l2.points.isEmpty()) {
-            V2XBizTrace.onAck("$TAG --- marker --- 3 --- line points null return ----", "")
-            return
-        }
-        V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
-        val points = LinkedList<MogoLatLng>()
-        if (l2.points.isNotEmpty()) {
-            points.addAll(l2.points.reversed().map {
-                MogoLatLng(it.latitude, it.longitude)
-            })
-        }
-        val centerX = marker.poi_lon
-        val centerY = marker.poi_lat
-        V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
-        val farthestPoint = marker.polygon?.let {
-            var find: Pair<Double, Double> = Pair(centerX, centerY)
-            var min = Long.MAX_VALUE
-            for (p in it) {
-                val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
-                    centerX,
-                    centerY,
-                    p.first,
-                    p.second,
-                    heading
-                )
-                if (angle < min) {
-                    min = angle
-                    find = p
+        v2nDrawHandler.post {
+            if (countDown.get() != 2) {
+                return@post
+            }
+            if (l1 == null || l2 == null) {
+                V2XBizTrace.onAck("$TAG --- marker --- 3 --- line null return ----", "")
+                return@post
+            }
+            if (l1.points.isEmpty() || l2.points.isEmpty()) {
+                V2XBizTrace.onAck("$TAG --- marker --- 3 --- line points null return ----", "")
+                return@post
+            }
+            V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
+            val points = LinkedList<MogoLatLng>()
+            if (l2.points.isNotEmpty()) {
+                points.addAll(l2.points.reversed().map {
+                    MogoLatLng(it.latitude, it.longitude)
+                })
+            }
+            val centerX = marker.poi_lon
+            val centerY = marker.poi_lat
+            V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
+            val farthestPoint = marker.polygon?.let {
+                var find: Pair<Double, Double> = Pair(centerX, centerY)
+                var min = Long.MAX_VALUE
+                for (p in it) {
+                    val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                        centerX,
+                        centerY,
+                        p.first,
+                        p.second,
+                        heading
+                    )
+                    if (angle < min) {
+                        min = angle
+                        find = p
+                    }
+                }
+                MogoLatLng(find.second, find.first)
+            } ?: MogoLatLng(centerY, centerX)
+            marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
+            V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
+            if (l1.points.isNotEmpty()) {
+                for (l in l1.points) {
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                            farthestPoint.lon,
+                            farthestPoint.lat,
+                            l.longitude,
+                            l.latitude,
+                            (heading + 180)
+                        ) < 90L
+                    ) {
+                        points.add(l.let { MogoLatLng(it.latitude, it.longitude) })
+                    }
                }
            }
-            MogoLatLng(find.second, find.first)
-        } ?: MogoLatLng(centerY, centerX)
-        marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
-        V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
-        if (l1.points.isNotEmpty()) {
-            for (l in l1.points) {
-                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
-                        farthestPoint.lon,
-                        farthestPoint.lat,
-                        l.longitude,
-                        l.latitude,
-                        (heading + 180)
-                    ) < 90L
-                ) {
-                    points.add(l.let { MogoLatLng(it.latitude, it.longitude) })
-                }
+            if (points.size <= 1) {
+                return@post
            }
+            val evaluator = ArgbEvaluator()
+            val interceptor = DecelerateInterpolator(1.5f)
+            val total = points.size
+            val colors = ArrayList<Int>()
+            (0..total).forEach { i ->
+                colors += evaluator.evaluate(
+                    interceptor.getInterpolation(i * 1f / total),
+                    START_COLOR,
+                    END_COLOR
+                ) as Int
+            }
+            builder.points(points)
+            builder.colors(colors)
+            builder.setVisible(true)
+            V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
+            val line = overlayManager?.showOrUpdateLine(builder.build())
+            if (line != null) {
+                this.line.set(line)
+                wrapper.addLine(line)
+            }
+            wrapper.onRemoved = { id ->
+                aiMakers.remove(id)
+            }
+            MarkerRemoveManager.addMarker(wrapper)
+            countDown.set(0)
        }
-        if (points.size <= 1) {
-            return
-        }
-        val evaluator = ArgbEvaluator()
-        val interceptor = DecelerateInterpolator(1.5f)
-        val total = points.size
-        val colors = ArrayList<Int>()
-        (0..total).forEach { i ->
-            colors += evaluator.evaluate(
-                interceptor.getInterpolation(i * 1f / total),
-                START_COLOR,
-                END_COLOR
-            ) as Int
-        }
-        builder.points(points)
-        builder.colors(colors)
-        builder.setVisible(true)
-        V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
-        val line = overlayManager?.showOrUpdateLine(builder.build())
-        if (line != null) {
-            this.line.set(line)
-            wrapper.addLine(line)
-        }
-        wrapper.onRemoved = { id ->
-            aiMakers.remove(id)
-        }
-        MarkerRemoveManager.addMarker(wrapper)
-        countDown.set(0)
    }

    private fun removeLine() {
--- 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
@@ -21,6 +21,7 @@ import androidx.core.view.MenuCompat
 import androidx.core.view.isVisible
 import androidx.lifecycle.lifecycleScope
 import chassis.Chassis
+import com.mogo.cloud.network.cronet.QuicConfig
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.SharedPrefsConstants
@@ -762,6 +763,9 @@ internal class DebugSettingView @JvmOverloads constructor(
        tbObuWarningFusionUnion.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isObuWarningFusionUnion = isChecked
        }
+        tbCronet.setOnCheckedChangeListener { _, isChecked ->
+            QuicConfig.setEnable(context, isChecked)
+        }

        //重启工控机所有节点
        btnIpcReboot.onClick {
@@ -813,6 +817,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                    // update tracker provider view
                    trackerIPCProvider.visibility = View.VISIBLE
                }
+
                R.id.trackerProviderObu -> {
                    FunctionBuildConfig.debugTrackerProvider = 1
                    // update tracker provider view
@@ -859,16 +864,16 @@ internal class DebugSettingView @JvmOverloads constructor(
            ToastUtils.showShort("功能开发中")
        }

-        if(FunctionBuildConfig.isDrawPointCloudData){
+        if (FunctionBuildConfig.isDrawPointCloudData) {
            //如果点云效果是打开的，则自车光圈也跟随打开
            tbCarAperture.isChecked = true
-        }else{
+        } else {
            tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
        }
        tbCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
            CallerSopSettingManager.invokeCarApertureListener(isChecked)
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
            FunctionBuildConfig.isDisplayAnimEnable = isChecked
@@ -882,9 +887,9 @@ internal class DebugSettingView @JvmOverloads constructor(
                return@setOnCheckedChangeListener
            }
            //打开点云效果时，如果自车光圈是关闭状态，则自动打开自车光圈（点云是跟随光圈的 默认没有光圈就不显示点云的）
-            if(isChecked && !FunctionBuildConfig.isDisplayAnimEnable){
+            if (isChecked && !FunctionBuildConfig.isDisplayAnimEnable) {
                tbCarAperture.isChecked = true
-            }else{
+            } else {
                tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
            }
            CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
@@ -932,6 +937,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                btnConnectServerIp.visibility = View.GONE
                etConnectServerIp.visibility = View.GONE
            }
+
            else -> {
                brakeThresholdDivider.visibility = View.VISIBLE
                btnConnectServerIp.visibility = View.VISIBLE
@@ -1112,32 +1118,41 @@ internal class DebugSettingView @JvmOverloads constructor(
                        R.id.group_hy -> {
                            return@setOnMenuItemClickListener false
                        }
+
                        R.id.group_bj -> {
                            return@setOnMenuItemClickListener false
                        }
+
                        R.id.env_reset ->
                            CallerDevaToolsManager.envConfigReset()
+
                        R.id.hy_product ->
                            CallerDevaToolsManager.envConfigChange(
                                "0734",
                                DebugConfig.NET_MODE_RELEASE
                            )
+
                        R.id.hy_qa ->
                            CallerDevaToolsManager.envConfigChange("0734", DebugConfig.NET_MODE_QA)
+
                        R.id.hy_demo ->
                            CallerDevaToolsManager.envConfigChange(
                                "0734",
                                DebugConfig.NET_MODE_DEMO
                            )
+
                        R.id.bj_product ->
                            CallerDevaToolsManager.envConfigChange(
                                "010",
                                DebugConfig.NET_MODE_RELEASE
                            )
+
                        R.id.bj_qa ->
                            CallerDevaToolsManager.envConfigChange("010", DebugConfig.NET_MODE_QA)
+
                        R.id.bj_demo ->
                            CallerDevaToolsManager.envConfigChange("010", DebugConfig.NET_MODE_DEMO)
+
                        else ->
                            throw AssertionError("invalid item: $item")
                    }
@@ -1594,11 +1609,13 @@ internal class DebugSettingView @JvmOverloads constructor(
                AppConfigInfo.isDriver = true
                AppConfigInfo.isConnectedNetty = CallerTelematicManager.getServerStarted()
            }
+
            AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) -> {
                AppConfigInfo.isDriver = false
                AppConfigInfo.isConnectedNetty = CallerTelematicManager.getClientConnStatus()
                AppConfigInfo.serverSn = CallerTelematicManager.getServerToken()
            }
+
            else -> {
            }
        }
@@ -1654,12 +1671,15 @@ internal class DebugSettingView @JvmOverloads constructor(
                2 -> {
                    "测试环境"
                }
+
                3 -> {
                    "生产环境"
                }
+
                4 -> {
                    "演示环境"
                }
+
                else -> {
                    "未知环境"
                }
@@ -1710,6 +1730,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                    AppConfigInfo.isDriver -> {
                        "司机端Server启动"
                    }
+
                    else -> {
                        "乘客端${"(司机屏SN是:${AppConfigInfo.serverSn})"}连接"
                    }
@@ -1729,6 +1750,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                    AppConfigInfo.isDriver -> {
                        "司机屏发送数据"
                    }
+
                    else -> "乘客屏接收数据"
                }
            }的最新时间为:<font color='red'>${simpleDateFormat.format(AppConfigInfo.teleTimeStamp)}"
@@ -1904,6 +1926,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                }
                tbIsDemoMode.setPadding(left, top, right, bottom)
            }
+
            BIZ_RAIN_MODE -> {
                tbIsRainMode.isClickable = !lock
                val (left, top, right, bottom) = tbIsRainMode.currentPadding()
@@ -1916,6 +1939,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                }
                tbIsRainMode.setPadding(left, top, right, bottom)
            }
+
            BIZ_WARNING_UPLOAD -> {
                tbReportWarning.isClickable = !lock
                val (left, top, right, bottom) = tbReportWarning.currentPadding()
@@ -1927,6 +1951,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                }
                tbReportWarning.setPadding(left, top, right, bottom)
            }
+
            BIZ_BAG_RECORD -> {
                val (left, top, right, bottom) = btnRecordBag.currentPadding()
                if (lock) {
@@ -1940,6 +1965,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                }
                btnRecordBag.setPadding(left, top, right, bottom)
            }
+
            BIZ_FULL_LOG -> {
                val (left, top, right, bottom) = tbLogCatch.currentPadding()
                if (lock) {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
@@ -349,8 +349,6 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
        CallerAutoPilotStatusListenerManager.removeListener(TAG)
        CallerRequestActivityHandleManager.removeListener(TAG)
        mogoMapListenerHandler.unregisterHostMapListener(TAG)
-        val mapUIController = getMapUIController()
-        mapUIController?.destroy()
        MogoStatusManager.getInstance().setMainPageIsBackgroundStatus(TAG, false)
        d(SceneConstant.M_HMI + TAG, "destroy.")
        ContextHolderUtil.releaseContext()
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -290,6 +290,18 @@
                android:textOn="关闭obu预警融合"
                android:textSize="@dimen/dp_24" />

+            <ToggleButton
+                android:id="@+id/tbCronet"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启QUIC协议(网络信号差时)"
+                android:textOn="关闭QUIC协议"
+                android:textSize="@dimen/dp_24" />
+
            <!-- APP升级数据  start -->
            <ToggleButton
                android:id="@+id/tbAppUpgrade"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -35,8 +35,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener
 import com.mogo.eagle.core.function.call.map.CallerMapRomaListener
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.updateLongSightLevel
-import com.mogo.eagle.core.function.utils.MapBizTrace
-import com.mogo.eagle.core.function.utils.MapBizTrace.Companion.getCurrentCNode
+import com.mogo.eagle.core.function.utils.MapRomaTrace
+import com.mogo.eagle.core.function.utils.MapRomaTrace.Companion.getCurrentCNode
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.zhidaoauto.map.data.point.LonLatPoint
@@ -74,7 +74,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
    private val handler = Handler(Looper.getMainLooper()) {
        if (it.what == H_ERROR_CLOUD) {
            if (!aiCloudDataChange.get()) {
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    CHAIN_CODE_ROMA_MAP_START, CHAIN_CODE_ROMA_CLOUD_ERROR, TAG,
                    mutableMapOf(
                        "msg" to "云端 $H_DELAY_TIME 秒内无感知数据下发",
@@ -83,7 +83,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
                    )
                )
            } else {
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    CHAIN_CODE_ROMA_MAP_START, CHAIN_CODE_ROMA_CLOUD_PUSH, TAG,
                    mutableMapOf(
                        "msg" to "延迟 $H_DELAY_TIME 秒内获取云端下发感知数据大小",
@@ -93,7 +93,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
            }
        }
        if (it.what == H_ERROR_MAP) {
-            MapBizTrace.log(
+            MapRomaTrace.log(
                CHAIN_CODE_ROMA_MAP_START, CHAIN_CODE_ROMA_MAP_ERROR, TAG,
                mutableMapOf("msg" to "地图漫游模式启动失败,原因:${it.obj}")
            )
@@ -148,7 +148,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
        // 乘客司机屏屏各自单独控制漫游
        if (romaStatus) {
            // 开启roma，当前非漫游，开启
-            MapBizTrace.log(
+            MapRomaTrace.log(
                "",
                CHAIN_CODE_ROMA_CLICK,
                TAG,
@@ -157,7 +157,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
            openRoma()
        } else {
            // 跟上次关联，需要确认parent进度
-            MapBizTrace.log(getCurrentCNode(), CHAIN_CODE_ROMA_CLOSE_CLICK, TAG, "")
+            MapRomaTrace.log(getCurrentCNode(), CHAIN_CODE_ROMA_CLOSE_CLICK, TAG, "")
            handler.removeMessages(H_ERROR_CLOUD)
            closeRoma()
        }
@@ -186,7 +186,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
    fun requestRangeOfIdentify(dataReceive: Boolean) {
        val gnss = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().gnssInfo
        // false，改变父节点信息
-        MapBizTrace.log(
+        MapRomaTrace.log(
            if (dataReceive) CHAIN_CODE_ROMA_CLICK else "", CHAIN_CODE_ROMA_REQUEST, TAG,
            mutableMapOf(
                "dataReceive" to dataReceive,
@@ -203,7 +203,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
            gnss.latitude,
            {
                // false，改变父节点信息
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    if (dataReceive) CHAIN_CODE_ROMA_REQUEST else "",
                    CHAIN_CODE_ROMA_REQUEST_OK,
                    TAG,
@@ -218,13 +218,13 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
                    CallerMapUIServiceManager.getMapUIController()?.setRomaMode(FunctionBuildConfig.romaModeStyle)
                }else{
                    // 保底清除策略
-                    MapBizTrace.log("",CHAIN_CODE_ROMA_REQUEST_DELAY,TAG,mutableMapOf("delay" to true),true)
+                    MapRomaTrace.log("",CHAIN_CODE_ROMA_REQUEST_DELAY,TAG,mutableMapOf("delay" to true),true)
                    MapIdentifySubscriber.instance.clearAiCloudRoma()
                }
            },
            { errorMsg ->
                // false，改变父节点信息
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    if (dataReceive) CHAIN_CODE_ROMA_REQUEST else "",
                    CHAIN_CODE_ROMA_REQUEST_ERROR,
                    TAG,
@@ -248,7 +248,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
        super.mapRomaStatus(status, msg)
        when (status) {
            0 -> {
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    CHAIN_CODE_ROMA_REQUEST_OK,
                    CHAIN_CODE_ROMA_MAP_READY_START,
                    TAG,
@@ -256,7 +256,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
                )
            }
            4 -> {
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    CHAIN_CODE_ROMA_MAP_READY_START,
                    CHAIN_CODE_ROMA_MAP_START,
                    TAG,
@@ -280,14 +280,14 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
                closeRoma(false)
            }
            2 -> { // 地图自动漫游结束，重置状态，调用close通知服务端
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    CHAIN_CODE_ROMA_MAP_START, CHAIN_CODE_ROMA_MAP_END, TAG,
                    mutableMapOf("romaEnd" to "地图结束回调，状态：$status"), true
                )
                reset()
            }
            3 -> { // 业务释放地图视角锁定，回调切换视角结束漫游
-                MapBizTrace.log(
+                MapRomaTrace.log(
                    CHAIN_CODE_ROMA_CLOSE_CLICK,
                    CHAIN_CODE_ROMA_MAP_CHANGE_END,
                    TAG, mutableMapOf("romaEnd" to "地图结束回调，状态：$status"), true
@@ -330,7 +330,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
    }

    private fun updateRomaStyle(auto: Boolean, routeList: ArrayList<LonLatPoint>? = null) {
-        MapBizTrace.log(
+        MapRomaTrace.log(
            "",
            CHAIN_CODE_ROMA_ROUTE_MODE,
            TAG,
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/MapRomaTrace.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/MapRomaTrace.kt
@@ -8,7 +8,7 @@ import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.ChildNodeAlias
 import com.zhjt.service.chain.ParentNodeAlias

-class MapBizTrace {
+class MapRomaTrace {

    companion object {