Merge branch 'release_robotaxi-d-app-module_2130_221116_2.13.0.1_temp' into dev_robotaxi-d-app-module_2132_221223_2.13.2
This commit is contained in:
lixiaopeng
@@ -11,6 +11,7 @@ import com.zhidao.adas.client.bean.ErrorData;
|
||||
import com.zhidao.adas.client.bean.GlobalPathResp;
|
||||
import com.zhidao.adas.client.bean.GnssInfo;
|
||||
import com.zhidao.adas.client.bean.MogoReportMessage;
|
||||
import com.zhidao.adas.client.bean.ObuWarningData;
|
||||
import com.zhidao.adas.client.bean.OriginalPointCloudData;
|
||||
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
|
||||
import com.zhidao.adas.client.bean.PlanningDecisionState;
|
||||
@@ -117,6 +118,7 @@ public class DataDistribution {
|
||||
public final List<String> listOriginalPointCloud = new ArrayList<>();
|
||||
public final List<String> listPlanningObjects = new ArrayList<>();
|
||||
public final List<String> listPlanningDecisionState = new ArrayList<>();
|
||||
public final List<String> listObuWarningData = new ArrayList<>();
|
||||
|
||||
public String cutDown(String str) {
|
||||
if (isCutDown && str.length() > 650) {
|
||||
@@ -168,6 +170,14 @@ public class DataDistribution {
|
||||
if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
|
||||
listener.second.onRefresh();
|
||||
}
|
||||
} else if (data instanceof ObuWarningData) {
|
||||
listObuWarningData.add(0, time + str);
|
||||
if (listObuWarningData.size() > LIST_SIZE) {
|
||||
listObuWarningData.remove(listObuWarningData.size() - 1);
|
||||
}
|
||||
if (listener != null && Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(listener.first)) {
|
||||
listener.second.onRefresh();
|
||||
}
|
||||
} else if (data instanceof GnssInfo) {
|
||||
listGnssInfo.add(0, time + str);
|
||||
if (listGnssInfo.size() > LIST_SIZE) {
|
||||
|
||||
@@ -0,0 +1,24 @@
|
||||
package com.zhidao.adas.client.bean;
|
||||
|
||||
import com.google.protobuf.TextFormat;
|
||||
|
||||
import java.text.SimpleDateFormat;
|
||||
|
||||
import mogo.telematics.pad.MessagePad;
|
||||
import mogo.v2x.ObuWarningEvent;
|
||||
|
||||
public class ObuWarningData extends BaseInfo {
|
||||
public final ObuWarningEvent.ObuWarningData bean;
|
||||
|
||||
public ObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData bean, SimpleDateFormat sdf) {
|
||||
super("接收", bean.getSerializedSize(), header, sdf);
|
||||
this.bean = bean;
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public String toString() {
|
||||
return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -117,6 +117,8 @@ public class InfoFragment extends BaseFragment {
|
||||
adapter.setData(DataDistribution.getInstance().listArrivalNotification);
|
||||
} else if (Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(title)) {
|
||||
adapter.setData(DataDistribution.getInstance().listStatusInfo);
|
||||
} else if (Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(title)) {
|
||||
adapter.setData(DataDistribution.getInstance().listObuWarningData);
|
||||
} else if (Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(title)) {
|
||||
adapter.setData(DataDistribution.getInstance().listRecordDataConfig);
|
||||
} else if (Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(title)) {
|
||||
|
||||
@@ -64,6 +64,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
|
||||
import com.zhidao.adas.client.bean.GnssInfo;
|
||||
import com.zhidao.adas.client.bean.IPCConnectState;
|
||||
import com.zhidao.adas.client.bean.MogoReportMessage;
|
||||
import com.zhidao.adas.client.bean.ObuWarningData;
|
||||
import com.zhidao.adas.client.bean.OriginalPointCloudData;
|
||||
import com.zhidao.adas.client.bean.PerceptionTrafficLight;
|
||||
import com.zhidao.adas.client.bean.PlanningDecisionState;
|
||||
@@ -116,6 +117,7 @@ import chassis.Chassis;
|
||||
import chassis.VehicleStateOuterClass;
|
||||
import io.netty.channel.Channel;
|
||||
import mogo.telematics.pad.MessagePad;
|
||||
import mogo.v2x.ObuWarningEvent;
|
||||
import mogo_msg.MogoReportMsg;
|
||||
import perception.TrafficLightOuterClass;
|
||||
import prediction.Prediction;
|
||||
@@ -642,6 +644,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
|
||||
titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
|
||||
titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
|
||||
titleFragmentData.add(Constants.TITLE.RECEIVE_STATUS_QUERY_RESP);
|
||||
titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_WARNING_DATA);
|
||||
titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
|
||||
titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
|
||||
|
||||
@@ -1016,6 +1019,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
|
||||
DataDistribution.getInstance().addData(base);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
|
||||
ObuWarningData base = new ObuWarningData(header, obuWarningData, sdf);
|
||||
DataDistribution.getInstance().addData(base);
|
||||
}
|
||||
|
||||
private void initAdas() {
|
||||
CupidLogUtils.e(TAG, "--->初始化");
|
||||
|
||||
@@ -168,6 +168,7 @@ public class Constants {
|
||||
String RECEIVE_WARN = MessageType.TYPE_RECEIVE_WARN.desc;
|
||||
String RECEIVE_ARRIVAL_NOTIFICATION = MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.desc;
|
||||
String RECEIVE_STATUS_QUERY_RESP = MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.desc;
|
||||
String RECEIVE_OBU_WARNING_DATA = MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.desc;
|
||||
String RECEIVE_ERROR = "错误数据";
|
||||
|
||||
|
||||
|
||||
@@ -538,6 +538,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
|
||||
|
||||
}
|
||||
|
||||
private void initAdas() {
|
||||
CupidLogUtils.e(TAG, "--->初始化");
|
||||
|
||||
@@ -52,6 +52,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsList
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
|
||||
import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
|
||||
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
|
||||
import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
|
||||
import com.zhidao.support.adas.high.AdasManager
|
||||
import com.zhidao.support.adas.high.OnAdasListener
|
||||
@@ -62,6 +63,7 @@ import com.zhjt.service.chain.ChainLog
|
||||
import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
|
||||
import mogo.telematics.pad.MessagePad
|
||||
import mogo.telematics.pad.MessagePad.TrackedObject
|
||||
import mogo.v2x.ObuWarningEvent
|
||||
import mogo_msg.MogoReportMsg
|
||||
import perception.TrafficLightOuterClass
|
||||
import prediction.Prediction
|
||||
@@ -441,7 +443,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* OBU预警事件
|
||||
*
|
||||
* @param header 头
|
||||
* @param obuWarningData 数据
|
||||
*/
|
||||
override fun onObuWarningData(header: MessagePad.Header?, obuWarningData: ObuWarningEvent.ObuWarningData?) {
|
||||
CallerObuDcCombineListenerManager.invokeObuDcData(obuWarningData)
|
||||
}
|
||||
|
||||
/**
|
||||
* 是否可以启动自动驾驶
|
||||
|
||||
@@ -32,7 +32,10 @@ class MoGoObuProvider : IMoGoObuProvider {
|
||||
}
|
||||
|
||||
override fun init(context: Context) {
|
||||
CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress() + "--")
|
||||
//obu融合数据
|
||||
MogoObuDcCombineManager.INSTANCE.init(context)
|
||||
CallerLogger.d("${M_OBU}${MogoObuConst.TAG_MOGO_OBU}","MogoObuDcCombineManager 初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress() )
|
||||
CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())
|
||||
//bus乘客版本obu功能去掉
|
||||
if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(
|
||||
FunctionBuildConfig.appIdentityMode
|
||||
|
||||
@@ -0,0 +1,610 @@
|
||||
package com.mogo.eagle.core.function.obu.mogo
|
||||
|
||||
import android.content.Context
|
||||
import com.mogo.eagle.core.data.config.HmiBuildConfig
|
||||
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
|
||||
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
|
||||
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
|
||||
import com.mogo.eagle.core.function.api.obucombine.IMoGoObuDcCombineListener
|
||||
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
|
||||
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
|
||||
import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
|
||||
import com.mogo.eagle.core.function.obu.mogo.utils.TrafficDataConvertDcCombineUtils
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
|
||||
import com.mogo.support.obu.constants.MogoObuConstants
|
||||
import mogo.v2x.ObuWarningEvent
|
||||
import mogo.v2x.ObuWarningEvent.*
|
||||
|
||||
|
||||
/**
|
||||
*
|
||||
* @author lixiaopeng
|
||||
* @since 2021/11/30
|
||||
* @description 工控机融合数据
|
||||
*/
|
||||
class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener {
|
||||
companion object {
|
||||
val INSTANCE: MogoObuDcCombineManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
|
||||
MogoObuDcCombineManager()
|
||||
}
|
||||
}
|
||||
|
||||
private var mContext: Context? = null
|
||||
private val TAG = "MogoObuDcCombineManager"
|
||||
|
||||
|
||||
fun init(context: Context) {
|
||||
mContext = context
|
||||
CallerObuDcCombineListenerManager.addListener(TAG, this)
|
||||
}
|
||||
|
||||
fun destoryListener() {
|
||||
CallerObuDcCombineListenerManager.removeListener(TAG)
|
||||
}
|
||||
|
||||
/**
|
||||
* 通过工控机中转的obu数据,包括rsi，rsm，spat
|
||||
*
|
||||
*/
|
||||
override fun onMoGoObuDcCombineData(obuWarningData: ObuWarningEvent.ObuWarningData?) {
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager onMoGoObuDcCombineData obuWarningData = ${obuWarningData.toString()} ---obuWarningData.msgDataType = ${obuWarningData?.msgDataType}"
|
||||
)
|
||||
|
||||
obuWarningData?.let {
|
||||
when (obuWarningData.msgDataType) {
|
||||
1 -> { //rsiEvent
|
||||
onMogoObuDcRsiWarning(obuWarningData.rsiEvent)
|
||||
}
|
||||
|
||||
2 -> { //RsmEvent
|
||||
onMogoObuDcRsmWarning(obuWarningData.rsmEvent)
|
||||
}
|
||||
|
||||
3 -> { //SpatEvent
|
||||
onMogoObuDcSpatWarning(obuWarningData.spatEvent)
|
||||
}
|
||||
|
||||
4 -> { //map
|
||||
onMogoObuMapMath(obuWarningData.mapMatchData)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* RSI预警信息 CvxRtiThreatIndInfo（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
|
||||
*/
|
||||
fun onMogoObuDcRsiWarning(rsiWarningData: RsiWarningData?) {
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager onMogoObuRsiWarning ------> ${rsiWarningData.toString()}"
|
||||
)
|
||||
if (rsiWarningData != null && rsiWarningData.warningMsgList != null && rsiWarningData.warningMsgList.size > 0) {
|
||||
var alertContent = ""
|
||||
var ttsContent = "" //TODO 列表还是只有一项吗？
|
||||
var appId = rsiWarningData.warningMsgList[0].sceneType.toString()
|
||||
val status = rsiWarningData.status
|
||||
val level = rsiWarningData.warningMsgList[0].warningLevel
|
||||
val direction = getMessageDirection(rsiWarningData.warningMsgList[0].targetPosition)
|
||||
CallerLogger.d("${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager onMogoObuDcRsiWarning appId = $appId --status = $status --level = $level -- eventSerialNum = ${rsiWarningData.warningMsgList[0].eventSerialNum} ---signSerialNum = ${rsiWarningData.warningMsgList[0].signSerialNum} --- direction = $direction -- targetPosition = ${rsiWarningData.warningMsgList[0].targetPosition}"
|
||||
)
|
||||
|
||||
when (appId) {
|
||||
// 道路危险情况预警
|
||||
MogoObuConstants.RSI_SCENE_TYPE.HLW.toString() -> {
|
||||
when (rsiWarningData.warningMsgList[0].eventSerialNum) {
|
||||
MogoObuConstants.RTE.RTI_TYPE_BREAKDOWN -> {//车辆故障
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_BREAKDOWN_WARNING.poiType
|
||||
}
|
||||
MogoObuConstants.RTE.RTI_TYPE_ROAD_WATER -> { //道路积水
|
||||
appId = EventTypeEnumNew.FOURS_PONDING.poiType
|
||||
}
|
||||
MogoObuConstants.RTE.RTI_TYPE_PARKING_VIOLATION -> { //异常停车
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_PARKING.poiType
|
||||
}
|
||||
// MogoObuConstants.RTE.RTI_TYPE_CONSTRUCTION_RTE -> { //施工占道，和标牌重复
|
||||
// appId = EventTypeEnumNew.FOURS_ROAD_WORK.poiType
|
||||
// }
|
||||
MogoObuConstants.RTE.RTI_TYPE_SPEEDING -> { //超速行驶
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_SLW.poiType
|
||||
}
|
||||
MogoObuConstants.RTE.RTI_TYPE_RETRIGRADE -> { //车辆逆行
|
||||
appId =
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_ROAD_VEHICLE_RETROGRADE.poiType
|
||||
}
|
||||
}
|
||||
alertContent = EventTypeEnumNew.getWarningContent(appId)
|
||||
ttsContent = EventTypeEnumNew.getWarningTts(appId)
|
||||
alertContent = String.format( //事件才有影响范围
|
||||
alertContent,
|
||||
Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
|
||||
Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
|
||||
)
|
||||
ttsContent = String.format(
|
||||
ttsContent,
|
||||
Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
|
||||
Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
|
||||
)
|
||||
}
|
||||
|
||||
//车内标牌
|
||||
MogoObuConstants.RSI_SCENE_TYPE.IVS.toString() -> {
|
||||
when (rsiWarningData.warningMsgList[0].signSerialNum) {
|
||||
// MogoObuConstants.RTS.RTI_TYPE_INTERSECTION -> { //十字路口
|
||||
// appId = V2iEventTypeEnum.TYPE_ID_NTERSECTION.poiType
|
||||
// }
|
||||
MogoObuConstants.RTS.RTI_TYPE_SHAPR_TURNS -> { //急转弯
|
||||
appId = EventTypeEnumNew.TYPE_ID_SHAPR_TURNS.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_BRIDGE -> { //桥梁
|
||||
appId = EventTypeEnumNew.TYPE_ID_BRIDGE.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_PEDESTRIAN -> { //行人
|
||||
appId = EventTypeEnumNew.TYPE_ID_PEDESTRIAN.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_SLIPPERY_ROAD -> { //路滑
|
||||
appId = EventTypeEnumNew.TYPE_ID_SLIPPERY_ROAD.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_TUNNEL -> { //隧道
|
||||
appId = EventTypeEnumNew.TYPE_ID_TUNNEL.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_FERRY -> { //渡轮
|
||||
appId = EventTypeEnumNew.TYPE_ID_FERRY.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_UNEVEN_ROAD -> { //路面不平
|
||||
appId = EventTypeEnumNew.TYPE_ID_UNEVEN_ROAD.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_NON_MOTOR_VEHICLE -> { //非机动车
|
||||
appId = EventTypeEnumNew.TYPE_ID_NON_MOTOR_VEHICLE.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_OBSTACLE -> { //障碍
|
||||
appId = EventTypeEnumNew.TYPE_ID_OBSTACLE.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_CONSTRUCTION -> { //施工
|
||||
appId = EventTypeEnumNew.TYPE_FOURS_ROAD_WORK.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_VEHICLE_QUEUE -> { //车队
|
||||
appId = EventTypeEnumNew.TYPE_VEHICLE_QUEUE.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_NO_PASSING -> { //不通
|
||||
appId = EventTypeEnumNew.TYPE_NO_PASSING.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_NO_TURNING_AROUND -> { //禁止掉头
|
||||
appId = EventTypeEnumNew.TYPE_NO_TURNING_AROUND.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_NO_STOPPING -> { //禁止停车
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_NO_PARKING.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_NO_TOOTING -> { //禁止鸣笛
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_NO_TOOTING.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_SPEED_LIMIT -> { //限速
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
|
||||
}
|
||||
// MogoObuConstants.RTS.RTI_TYPE_GO_STRAIGHT_TURN_RIGHT -> { //直行或右转
|
||||
// appId =
|
||||
// EventTypeEnumNew.TYPE_USECASE_ID_GO_STRAIGHT_TURN_RIGHT.poiType
|
||||
// }
|
||||
MogoObuConstants.RTS.RTI_TYPE_BUS_WARNING -> { //公交提醒
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_BUS_WARNING.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_NARROW_RIGHT -> { //右侧变窄/车道数减少
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_NARROW_RIGHT.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_GAS_STATION -> { //加油站
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_GAS_STATION.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_SCHOOL -> { //学校
|
||||
appId =
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_ROAD_PEDESTRIAN_SCHOOL.poiType
|
||||
}
|
||||
MogoObuConstants.RTS.RTI_TYPE_ACCIDENT -> { //事故
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_ACCIDENT.poiType
|
||||
}
|
||||
}
|
||||
|
||||
alertContent = EventTypeEnumNew.getWarningContent(appId)
|
||||
ttsContent = EventTypeEnumNew.getWarningTts(appId)
|
||||
alertContent = String.format( //标牌是没有影响范围的
|
||||
alertContent,
|
||||
Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString()
|
||||
)
|
||||
ttsContent = String.format(
|
||||
ttsContent,
|
||||
Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString()
|
||||
)
|
||||
}
|
||||
|
||||
// 拥堵
|
||||
MogoObuConstants.RSI_SCENE_TYPE.TJW.toString() -> {
|
||||
appId = EventTypeEnumNew.TYPE_USECASE_ID_TJW.poiType
|
||||
alertContent = EventTypeEnumNew.getWarningContent(appId)
|
||||
ttsContent = EventTypeEnumNew.getWarningTts(appId)
|
||||
alertContent = String.format( //事件才有影响范围
|
||||
alertContent,
|
||||
Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
|
||||
Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
|
||||
)
|
||||
ttsContent = String.format(
|
||||
ttsContent,
|
||||
Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
|
||||
Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
|
||||
)
|
||||
}
|
||||
|
||||
//限速预警, ADD处理一次
|
||||
MogoObuConstants.RSI_SCENE_TYPE.SLW.toString() -> {
|
||||
alertContent = EventTypeEnumNew.getWarningContent(appId)
|
||||
ttsContent = EventTypeEnumNew.getWarningTts(appId)
|
||||
}
|
||||
}
|
||||
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager ttsContent = $ttsContent --alertContent = $alertContent --appId = $appId ---direction = ${direction.direction} --distance = ${rsiWarningData.warningMsgList[0].distance} ---eventRadius = ${rsiWarningData.warningMsgList[0].eventRadius} --speedMaxLimit = ${rsiWarningData.warningMsgList[0].speedMaxLimit}"
|
||||
)
|
||||
when (status) {
|
||||
// 添加
|
||||
MogoObuConstants.STATUS.ADD -> {
|
||||
//显示警告红边
|
||||
CallerHmiManager.showWarning(direction)
|
||||
CallerHmiManager.showWarningV2X(
|
||||
appId,
|
||||
alertContent,
|
||||
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
|
||||
(appId + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
|
||||
object : IMoGoWarningStatusListener {
|
||||
override fun onDismiss() {
|
||||
// 关闭警告红边
|
||||
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
|
||||
}
|
||||
},
|
||||
true,
|
||||
5000L
|
||||
)
|
||||
|
||||
// 更新数据，是否需要
|
||||
// TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)?.let {
|
||||
// CallerMapUIServiceManager.getMarkerService()
|
||||
// ?.updateITrafficThreatLevelInfo(it)
|
||||
// }
|
||||
}
|
||||
|
||||
MogoObuConstants.STATUS.UPDATE -> { // 更新
|
||||
}
|
||||
|
||||
// 删除
|
||||
MogoObuConstants.STATUS.DELETE -> {
|
||||
// 关闭警告红边
|
||||
// CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
|
||||
// 移除顶部弹窗
|
||||
CallerHmiManager.disableWarningV2X((appId + direction.direction))
|
||||
// 更新数据，删除标牌？
|
||||
// TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)
|
||||
// ?.let {
|
||||
// // 事件结束，还原车辆颜色
|
||||
// it.threatLevel = 0x01
|
||||
// CallerMapUIServiceManager.getMarkerService()
|
||||
// ?.updateITrafficInfo(it)
|
||||
// }
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* RSM预警信息 CvxPtcThreatIndInfo CvxPtcInfoIndInfo（主车与弱势交通参与者之间的预警（如：弱势交通参与者碰撞预警））
|
||||
*/
|
||||
fun onMogoObuDcRsmWarning(rsmWarningData: RsmWarningData?) {
|
||||
if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager onMogoObuRsmWarning ------> ${rsmWarningData.toString()}"
|
||||
)
|
||||
// 交通参与者类型 0x0:未知 UNKNOWN | 1机动车 2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
|
||||
if (rsmWarningData != null && rsmWarningData.participantOfOne != null) {
|
||||
var v2xType = ""
|
||||
if (rsmWarningData.participantOfOne.ptcType == 1) { //机动车
|
||||
v2xType =
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
|
||||
} else if (rsmWarningData.participantOfOne.ptcType == 2) { //非机动车
|
||||
v2xType =
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
|
||||
} else if (rsmWarningData.participantOfOne.ptcType == 3) { //行人
|
||||
v2xType =
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
|
||||
} else { //未知
|
||||
v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
|
||||
}
|
||||
val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
|
||||
val alertContent =
|
||||
EventTypeEnumNew.getWarningContent(v2xType)
|
||||
var level = -1
|
||||
val direction =
|
||||
getMessageDirection(rsmWarningData.participantOfOne.targetPosition) //TODO 只有一个
|
||||
if (rsmWarningData.warningMsg != null && rsmWarningData.warningMsg.warningDataList != null && rsmWarningData.warningMsg.warningDataList.size > 0) {
|
||||
level = rsmWarningData.warningMsg.warningDataList[0].warningLevel
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager onMogoObuRsmWarning ---status---> ${rsmWarningData.status} --list status----> ${rsmWarningData.warningMsg.warningDataList.get(0).status} --v2xType--- $v2xType ---alertContent = $alertContent ---ttsContent= $ttsContent"
|
||||
)
|
||||
|
||||
when (rsmWarningData.warningMsg.warningDataList.get(0).status) {
|
||||
MogoObuConstants.STATUS.ADD -> { // 添加
|
||||
// if (level == 2 || level == 3) { //不考虑level
|
||||
//显示警告红边
|
||||
CallerHmiManager.showWarning(direction)
|
||||
CallerHmiManager.showWarningV2X(
|
||||
v2xType,
|
||||
alertContent,
|
||||
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
|
||||
(v2xType + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
|
||||
object : IMoGoWarningStatusListener {
|
||||
override fun onDismiss() {
|
||||
// 关闭警告红边
|
||||
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
|
||||
}
|
||||
},
|
||||
true,
|
||||
5000L
|
||||
)
|
||||
// }
|
||||
|
||||
// 更新数据 TODO
|
||||
TrafficDataConvertDcCombineUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
|
||||
// TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
|
||||
CallerMapUIServiceManager.getMarkerService()
|
||||
?.updateITrafficThreatLevelInfo(it)
|
||||
}
|
||||
}
|
||||
|
||||
MogoObuConstants.STATUS.UPDATE -> {// 更新
|
||||
}
|
||||
|
||||
// 删除
|
||||
MogoObuConstants.STATUS.DELETE -> {
|
||||
// 关闭警告红边
|
||||
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
|
||||
// 更新数据 TODO 由于obu通过域控需要转换单位，这里临时转换，后面3.0不需要转换
|
||||
TrafficDataConvertDcCombineUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
|
||||
// 事件结束，还原交通参与者颜色
|
||||
it.threatLevel = 0x01
|
||||
// TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
|
||||
CallerMapUIServiceManager.getMarkerService()
|
||||
?.updateITrafficThreatLevelInfo(it)
|
||||
}
|
||||
//删除弱势交通元素
|
||||
CallerMapUIServiceManager.getMarkerService()
|
||||
?.removeCvxRvInfoIndInfo(rsmWarningData.participantOfOne.ptcID.toString())
|
||||
// TrafficMarkerDrawer.removeCvxRvInfoIndInfo(rsmWarningData.participantOfOne.ptcID.toString())
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* 红绿灯预警信息
|
||||
*/
|
||||
fun onMogoObuDcSpatWarning(spatWarningData: SpatWarningData?) {
|
||||
CallerLogger.d("${M_OBU}${TAG}", "onMogoObuDcSpatWarning warningType = ${spatWarningData!!.warningType} --status = ${spatWarningData?.status} --lightsList = ${spatWarningData.lightsList}")
|
||||
handlerTrafficLight(
|
||||
spatWarningData!!.warningType,
|
||||
spatWarningData?.status,
|
||||
spatWarningData?.lightsList
|
||||
)
|
||||
}
|
||||
|
||||
/**
|
||||
* 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
|
||||
*/
|
||||
fun onMogoObuMapMath(data: MapMatchData?) {
|
||||
CallerLogger.d("${M_OBU}${TAG}", "MogoObuDcCombineManager onMogoObuMapMath HmiBuildConfig.isShowObuLimitSpeedView = " + HmiBuildConfig.isShowObuLimitSpeedView)
|
||||
if(HmiBuildConfig.isShowObuLimitSpeedView) {
|
||||
if (data != null) {
|
||||
CallerLogger.d("${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager onMogoObuMapMath = ${data.status} --speedMaxLimit = ${Math.round((data.speedMaxLimit*0.02*3.6))} --- data.speedMaxLimit = ${data.speedMaxLimit}")
|
||||
when (data.status) {
|
||||
MogoObuConstants.STATUS.ADD -> { // 添加
|
||||
CallerHmiManager.showLimitingVelocity(Math.round((data.speedMaxLimit*0.02*3.6)).toInt())
|
||||
}
|
||||
|
||||
MogoObuConstants.STATUS.UPDATE -> { // 更新
|
||||
}
|
||||
|
||||
MogoObuConstants.STATUS.DELETE -> { // 删除
|
||||
CallerHmiManager.disableLimitingVelocity()
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 获取消息的方位 车辆相关
|
||||
*/
|
||||
private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
|
||||
return when (targetClassification) {
|
||||
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
|
||||
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
|
||||
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
|
||||
-> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
|
||||
MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
|
||||
-> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
|
||||
-> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
|
||||
-> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT //右后方
|
||||
|
||||
MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
|
||||
else -> WarningDirectionEnum.ALERT_WARNING_ALL
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 处理红绿灯
|
||||
*/
|
||||
private fun handlerTrafficLight(appId: Int, status: Int, lights: List<ObuWarningEvent.SpatLight>) {
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager handlerTrafficLight --- status = $status ---lights.size = ${lights.size} ---lights = $lights ---appId = $appId"
|
||||
)
|
||||
when (status) {
|
||||
// 添加
|
||||
MogoObuConstants.STATUS.ADD,
|
||||
MogoObuConstants.STATUS.UPDATE
|
||||
-> {
|
||||
if (lights != null && lights.isNotEmpty()) {
|
||||
changeTrafficLightStatus(appId, lights)
|
||||
}
|
||||
}
|
||||
// 删除
|
||||
MogoObuConstants.STATUS.DELETE -> {
|
||||
// 移除顶部弹窗，当收不到信号的时候触发一次
|
||||
CallerHmiManager.disableWarningTrafficLight()
|
||||
CallerHmiManager.disableWarningV2X(appId.toString())
|
||||
isShowGreenWave = false
|
||||
isShowRunRedLight = false
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private var isRedLight = false
|
||||
private var isGreenLight = false
|
||||
private var isShowGreenWave = false
|
||||
private var isShowRunRedLight = false
|
||||
|
||||
/**
|
||||
* 修改红绿灯
|
||||
*/
|
||||
@Synchronized
|
||||
private fun changeTrafficLightStatus(
|
||||
appId: Int,
|
||||
lights: List<ObuWarningEvent.SpatLight>
|
||||
) {
|
||||
var ttsContent = ""
|
||||
var alertContent = ""
|
||||
//这里需要根据真实数据确定 index 取值方式
|
||||
val currentLight = lights[0]
|
||||
CallerLogger.e(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager currentLight = $currentLight ---currentLight.phaseID = ${currentLight.phaseID} ---appId = $appId ---isShowRunRedLight = $isShowRunRedLight ---isShowGreenWave = $isShowGreenWave"
|
||||
)
|
||||
|
||||
// 闯红灯预警和绿波通行底层是互斥的
|
||||
when (appId) {
|
||||
0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
|
||||
|
||||
}
|
||||
1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
|
||||
if (!isShowRunRedLight) {
|
||||
isShowRunRedLight = true
|
||||
CallerHmiManager.disableWarningV2X(2.toString())
|
||||
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
|
||||
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
|
||||
CallerLogger.d("${M_OBU}${TAG}","MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent ")
|
||||
CallerHmiManager.showWarningV2X(
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, null, true, 5000L)
|
||||
}
|
||||
}
|
||||
|
||||
2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次
|
||||
if (!isShowGreenWave) {
|
||||
isShowGreenWave = true
|
||||
CallerHmiManager.disableWarningV2X(1.toString())
|
||||
CallerLogger.d(
|
||||
"${M_OBU}${TAG}",
|
||||
"MogoObuDcCombineManager 绿波通行引导 --------> speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed}")
|
||||
val adviceSpeed =
|
||||
"${Math.round(currentLight.suggestMinSpeed*3.6*0.02)} - ${Math.round(currentLight.suggestMaxSpeed*3.6*0.02)}"
|
||||
val adviceSpeedTts =
|
||||
"${Math.round(currentLight.suggestMinSpeed*3.6*0.02)} - ${Math.round(currentLight.suggestMaxSpeed*3.6*0.02)}"
|
||||
|
||||
ttsContent =
|
||||
String.format(
|
||||
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
|
||||
adviceSpeedTts
|
||||
)
|
||||
alertContent =
|
||||
String.format(
|
||||
EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
|
||||
adviceSpeed
|
||||
)
|
||||
val maxSpeed = currentLight.suggestMaxSpeed*3.6
|
||||
if (maxSpeed > 0) {
|
||||
CallerHmiManager.showWarningV2X(
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
|
||||
alertContent,
|
||||
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
|
||||
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
|
||||
null,
|
||||
true,
|
||||
5000L
|
||||
)
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
when (currentLight.light) {
|
||||
// 灯光不可用
|
||||
0 -> {
|
||||
CallerHmiManager.showWarningTrafficLight(0, 2)
|
||||
}
|
||||
|
||||
// 红灯
|
||||
2, 3 -> {
|
||||
if (!isRedLight) {
|
||||
CallerHmiManager.disableWarningV2X(appId.toString())
|
||||
isRedLight = true
|
||||
}
|
||||
isGreenLight = false
|
||||
CallerHmiManager.showWarningTrafficLight(1, 2)
|
||||
val red = currentLight.countDown / 10
|
||||
CallerHmiManager.changeCountdownRed(red)
|
||||
}
|
||||
|
||||
// 绿灯
|
||||
4, 5, 6 -> {
|
||||
if (!isGreenLight) {
|
||||
CallerHmiManager.disableWarningV2X(appId.toString())
|
||||
isGreenLight = true
|
||||
}
|
||||
isRedLight = false
|
||||
CallerHmiManager.showWarningTrafficLight(3, 2)
|
||||
val green = currentLight.countDown / 10
|
||||
CallerHmiManager.changeCountdownGreen(green)
|
||||
}
|
||||
|
||||
// 黄灯
|
||||
7, 8 -> {
|
||||
CallerHmiManager.disableWarningV2X(appId.toString())
|
||||
CallerHmiManager.showWarningTrafficLight(2, 2)
|
||||
val yellow = currentLight.countDown / 10
|
||||
CallerHmiManager.changeCountdownYellow(yellow)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
package com.mogo.eagle.core.function.obu.mogo.utils
|
||||
|
||||
import android.util.Log
|
||||
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
|
||||
import com.mogo.eagle.core.data.traffic.TrafficData
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
|
||||
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
|
||||
import com.mogo.support.obu.model.MogoObuRsiWarningData
|
||||
import com.mogo.support.obu.model.MogoObuRsmWarningData
|
||||
import com.mogo.support.obu.model.MogoObuRvWarningData
|
||||
import mogo.v2x.ObuWarningEvent
|
||||
|
||||
/**
|
||||
* @description 自研obu数据通过工控机转发
|
||||
*
|
||||
* @author lixiaopeng
|
||||
* @since 2022/12/2
|
||||
*/
|
||||
object TrafficDataConvertDcCombineUtils {
|
||||
val TAG = "TrafficDataConvertDcCombineUtils"
|
||||
|
||||
/**
|
||||
* OBU RSU道路事件预警信息 转换交通元素数据 标牌 为何要显示level
|
||||
*/
|
||||
fun cvxRtiThreatIndInfo2TrafficData(info: MogoObuRsiWarningData): TrafficData? {
|
||||
if (info.warningMsg == null || info.warningMsg.size < 1 || info.warningMsg[0].position == null) {
|
||||
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
|
||||
return null
|
||||
}
|
||||
val trafficData = TrafficData()
|
||||
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG
|
||||
trafficData.uuid = info.warningMsg[0].signSerialNum.toString()
|
||||
trafficData.lat = info.warningMsg[0].position.latitude
|
||||
trafficData.lon = info.warningMsg[0].position.longitude
|
||||
trafficData.threatLevel = info.warningMsg[0].warningLevel
|
||||
Log.e("liyz", "cvxRtiThreatIndInfo2TrafficData trafficData -- ${trafficData.toString()}")
|
||||
return trafficData
|
||||
}
|
||||
|
||||
/**
|
||||
* OBU 弱势交通参与者信息 转换交通元素数据
|
||||
*/
|
||||
fun cvxPtcThreatIndInfo2TrafficData(info: ObuWarningEvent.RsmWarningData): TrafficData? {
|
||||
if (info.participantOfOne == null) {
|
||||
CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
|
||||
Log.e("liyz", "cvxPtcThreatIndInfo2TrafficData info.participant ")
|
||||
return null
|
||||
}
|
||||
val trafficData = TrafficData()
|
||||
trafficData.uuid = info.participantOfOne.ptcID.toString()
|
||||
trafficData.lat = info.participantOfOne.latitude / 10000000.0
|
||||
trafficData.lon = info.participantOfOne.longitude / 10000000.0
|
||||
trafficData.heading = info.participantOfOne.heading / 80.0
|
||||
trafficData.speed = info.participantOfOne.speed / 50.0
|
||||
|
||||
CallerLogger.e(
|
||||
"${M_OBU}${"MogoObuDcCombineManager"}",
|
||||
" cvxPtcThreatIndInfo2TrafficData ---uuid---> ${trafficData.uuid} --lat-- ${trafficData.lat} --lon-- ${trafficData.lon} --heading-- ${trafficData.heading} --speed-- ${trafficData.speed} --type --${info.participantOfOne.ptcType}"
|
||||
)
|
||||
|
||||
when (info.participantOfOne.ptcType) {
|
||||
// 未知
|
||||
0 -> {
|
||||
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI
|
||||
}
|
||||
//机动车
|
||||
1 -> {
|
||||
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO
|
||||
}
|
||||
// 非机动车
|
||||
2 -> {
|
||||
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE
|
||||
}
|
||||
// 行人
|
||||
3 -> {
|
||||
trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 交通参与者类型
|
||||
* 0：未知
|
||||
* 1：机动车
|
||||
* 2：非机动车
|
||||
* 3：行人
|
||||
* 4：OBU自身
|
||||
*/
|
||||
// 判断车辆V2X预警级别，调整车辆颜色
|
||||
if (info.warningMsg != null && info.warningMsg.warningDataList != null) {
|
||||
trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
|
||||
} else {
|
||||
trafficData.threatLevel = 1
|
||||
}
|
||||
return trafficData
|
||||
}
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,17 @@
|
||||
package com.mogo.eagle.core.function.api.obucombine
|
||||
|
||||
import mogo.v2x.ObuWarningEvent
|
||||
|
||||
/**
|
||||
* obu和dc 通道打通融合
|
||||
*/
|
||||
interface IMoGoObuDcCombineListener {
|
||||
|
||||
/**
|
||||
* obu透传v2i数据，（标牌，弱势交通，红绿灯，限速，道路危险状况）
|
||||
* @param obuWarningData
|
||||
*/
|
||||
fun onMoGoObuDcCombineData(obuWarningData: ObuWarningEvent.ObuWarningData?)
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,65 @@
|
||||
package com.mogo.eagle.core.function.call.obucombine
|
||||
|
||||
import androidx.annotation.Nullable
|
||||
import com.mogo.eagle.core.function.api.obucombine.IMoGoObuDcCombineListener
|
||||
import com.mogo.eagle.core.function.call.base.CallerBase
|
||||
import mogo.v2x.ObuWarningEvent
|
||||
import java.util.concurrent.ConcurrentHashMap
|
||||
|
||||
/**
|
||||
* obu和dc数据通道 回调监听
|
||||
*/
|
||||
object CallerObuDcCombineListenerManager : CallerBase() {
|
||||
// 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
|
||||
private val M_DC_COMBINE_LISTENERS: ConcurrentHashMap<String, IMoGoObuDcCombineListener> =
|
||||
ConcurrentHashMap()
|
||||
|
||||
/**
|
||||
* 添加 obu和dc数据通道 监听
|
||||
* @param tag 标记，用来注销监听使用
|
||||
* @param listener 监听回调
|
||||
*/
|
||||
fun addListener(
|
||||
@Nullable tag: String,
|
||||
@Nullable listener: IMoGoObuDcCombineListener
|
||||
) {
|
||||
if (M_DC_COMBINE_LISTENERS.containsKey(tag)) {
|
||||
return
|
||||
}
|
||||
M_DC_COMBINE_LISTENERS[tag] = listener
|
||||
}
|
||||
|
||||
/**
|
||||
* 删除监听
|
||||
* @param tag 标记，用来注销监听使用
|
||||
*/
|
||||
fun removeListener(@Nullable tag: String) {
|
||||
if (!M_DC_COMBINE_LISTENERS.containsKey(tag)) {
|
||||
return
|
||||
}
|
||||
M_DC_COMBINE_LISTENERS.remove(tag)
|
||||
}
|
||||
|
||||
/**
|
||||
* 删除自动驾驶按钮选中监听
|
||||
* @param listener 要删除的监听对象
|
||||
*/
|
||||
fun removeListener(@Nullable listener: IMoGoObuDcCombineListener) {
|
||||
M_DC_COMBINE_LISTENERS.forEach {
|
||||
if (it.value == listener) {
|
||||
M_DC_COMBINE_LISTENERS.remove(it.key)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* v2i数据
|
||||
*/
|
||||
fun invokeObuDcData(obuWarningData: ObuWarningEvent.ObuWarningData?){
|
||||
M_DC_COMBINE_LISTENERS.forEach{
|
||||
val listener = it.value
|
||||
listener.onMoGoObuDcCombineData(obuWarningData)
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -24,7 +24,8 @@ enum PilotMode {
|
||||
MODE_STEER_ONLY = 2;
|
||||
MODE_SPEED_ONLY = 3;
|
||||
MODE_REMOTE_DRIVE = 6;
|
||||
CHASSID_TELECONTROL_DRIVE = 7;
|
||||
MODE_TELECONTROL_DRIVE = 7;
|
||||
MODE_INVALID = 8;
|
||||
}
|
||||
|
||||
enum LongitudeDrivingMode {
|
||||
@@ -98,4 +99,4 @@ enum CleanSystemControlMode {
|
||||
Clean_PureWash_Both_Side_Work = 12;
|
||||
Clean_PureWash_Left_Work = 13;
|
||||
Clean_PureWash_Right_Work = 14;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
syntax = "proto3";
|
||||
package mogo.v2x.v2i;
|
||||
package mogo.v2x;
|
||||
|
||||
import "header.proto";
|
||||
import "mogo_v2x.proto";
|
||||
@@ -91,10 +91,27 @@ message SpatWarningData{
|
||||
repeated SpatLight lights = 3; /* 灯色信息集合 */
|
||||
}
|
||||
|
||||
message ObuWarningData{
|
||||
common.Header header = 1;
|
||||
int32 MsgDataType = 2; /*1:rsiEvent; 2:RsmEvent; 3:SpatEvent*/
|
||||
RsiWarningData rsiEvent = 3;
|
||||
RsmWarningData RsmEvent = 4;
|
||||
SpatWarningData SpatEvent = 5;
|
||||
message NodeID{
|
||||
int32 region = 1;/* 定义地图中划分区域的ID号 */
|
||||
int32 id = 2; /* 定义地图节点ID */
|
||||
}
|
||||
|
||||
message MapMatchData{
|
||||
int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */
|
||||
int32 unitMask = 2;/* 描述所属字段有效性 */
|
||||
NodeID currentNodeID = 3;/* 前方节点信息 */
|
||||
NodeID upstreamNodeID = 4;/* 上游节点信息 */
|
||||
int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */
|
||||
int32 speedMaxLimit = 6;/* 建议最大车速，单位(0.02m/s) */
|
||||
int32 speedMinLimit = 7;/* 建议最小车速，单位(0.02m/s) */
|
||||
}
|
||||
|
||||
message ObuWarningData{
|
||||
common.Header header = 1;
|
||||
int32 msgDataType = 2; /*1:rsiEvent; 2:rsmEvent; 3:spatEvent; 4:mapMatchData*/
|
||||
RsiWarningData rsiEvent = 3;
|
||||
RsmWarningData rsmEvent = 4;
|
||||
SpatWarningData spatEvent = 5;
|
||||
MapMatchData mapMatchData = 6;
|
||||
}
|
||||
|
||||
|
||||
@@ -30,7 +30,6 @@ message HealthInfo{
|
||||
message TopicInfo{
|
||||
optional string name = 1; //topic name
|
||||
optional int32 hz = 2; //Topic发送的频率
|
||||
// optional int32 max_delay = 3; //unit： msec
|
||||
}
|
||||
|
||||
message DropTopic{
|
||||
@@ -38,10 +37,28 @@ message DropTopic{
|
||||
repeated TopicInfo topic = 2;
|
||||
}
|
||||
|
||||
message NodeInfo{
|
||||
optional string node_name = 1; //node name
|
||||
optional string launch_name = 2; //launch name
|
||||
optional int32 state = 3; //0：未知状态None，1：依赖未就绪Waiting，2：启动中Starting，3：运行running，4：停止stopping，5：无法启动状态，6：人为启动状态，7：人为关闭状态
|
||||
}
|
||||
|
||||
message NodeFaultList{
|
||||
required int32 sum = 1; //下述node总数
|
||||
repeated NodeInfo node = 2;
|
||||
}
|
||||
|
||||
message StatusInfo {
|
||||
required SystemState sys_state=1; // 当前消息状态
|
||||
required SystemState sys_state=1; // 当前系统状态
|
||||
repeated HealthInfo health_info=2; // 健康检查状态信息
|
||||
optional DropTopic topic_drop_info=3; // topic 掉频信息， 如有掉频添加没有不添加
|
||||
optional string reserved = 4; // 预留可选字段，用于接口扩充或者，其他信息补充
|
||||
optional string reserved = 4; // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作
|
||||
// add by liyl 20220907
|
||||
optional int32 pilot_mode = 5; // 0: manaul 1: autopilot 2: RemotePilot
|
||||
optional string map_version = 6; // MAP 版本信息
|
||||
optional string master_version = 7; // system_master 版本信息
|
||||
optional bool auto_pilot_ready = 8; // 自动驾驶状态就绪, 20221111增加
|
||||
optional bool remote_pilot_ready = 9; // 平行驾驶状态就绪
|
||||
optional NodeFaultList auto_pilot_unready_list = 10; //20221128 增加
|
||||
optional NodeFaultList remote_pilot_unready_list = 11; //20221128 增加
|
||||
}
|
||||
|
||||
@@ -6,6 +6,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
|
||||
|
||||
import chassis.VehicleStateOuterClass;
|
||||
import mogo.telematics.pad.MessagePad;
|
||||
import mogo.v2x.ObuWarningEvent;
|
||||
import mogo_msg.MogoReportMsg;
|
||||
import perception.TrafficLightOuterClass;
|
||||
import prediction.Prediction;
|
||||
@@ -180,6 +181,13 @@ public interface OnAdasListener {
|
||||
*/
|
||||
void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
|
||||
|
||||
/**
|
||||
* OBU预警事件
|
||||
*
|
||||
* @param header 头
|
||||
* @param obuWarningData 数据
|
||||
*/
|
||||
void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData);
|
||||
|
||||
/**
|
||||
* 是否有能力启动自动驾驶
|
||||
|
||||
@@ -53,7 +53,8 @@ public enum MessageType {
|
||||
TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"),
|
||||
TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令"),
|
||||
//透传 原始pb文件中不存在以下type。由于Java中无法强转所以在mogo-adas-data message_pad.proto中放开注释
|
||||
TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态");
|
||||
TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
|
||||
TYPE_RECEIVE_OBU_WARNING_DATA(MessagePad.MessageType.MsgTypeObuWarningData, "OBU预警事件");
|
||||
|
||||
|
||||
/**
|
||||
|
||||
@@ -31,6 +31,7 @@ public class MyMessageFactory implements IMyMessageFactory {
|
||||
private IMsg statusQueryRespMessage;//状态查询应答
|
||||
private IMsg recordDataConfigRespMessage;//数据采集配置应答
|
||||
private IMsg planningDecisionStateMessage;//planning决策状态
|
||||
private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据
|
||||
|
||||
private final AutopilotReview autopilotReview;
|
||||
|
||||
@@ -148,6 +149,12 @@ public class MyMessageFactory implements IMyMessageFactory {
|
||||
planningDecisionStateMessage = new PlanningDecisionStateMessage();
|
||||
}
|
||||
return planningDecisionStateMessage;
|
||||
} else if (messageType == MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.typeCode) {
|
||||
//OBU预警事件
|
||||
if (obuWarningDataMessage == null) {
|
||||
obuWarningDataMessage = new ObuWarningDataMessage();
|
||||
}
|
||||
return obuWarningDataMessage;
|
||||
} else {
|
||||
//MessageType.TYPE_DEFAULT.typeCode
|
||||
return null;
|
||||
|
||||
@@ -0,0 +1,31 @@
|
||||
package com.zhidao.support.adas.high.msg;
|
||||
|
||||
import android.os.SystemClock;
|
||||
|
||||
import com.google.protobuf.InvalidProtocolBufferException;
|
||||
import com.zhidao.support.adas.high.AdasChannel;
|
||||
import com.zhidao.support.adas.high.OnAdasListener;
|
||||
import com.zhidao.support.adas.high.common.CupidLogUtils;
|
||||
import com.zhidao.support.adas.high.protocol.RawData;
|
||||
|
||||
import mogo.v2x.ObuWarningEvent;
|
||||
|
||||
|
||||
/**
|
||||
* OBU预警事件
|
||||
*/
|
||||
public class ObuWarningDataMessage extends MyAbstractMessageHandler {
|
||||
|
||||
@Override
|
||||
public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
|
||||
ObuWarningEvent.ObuWarningData obuWarningData = ObuWarningEvent.ObuWarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
|
||||
AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime);
|
||||
long nowTime = 0;
|
||||
if (CupidLogUtils.isEnableLog())
|
||||
nowTime = SystemClock.elapsedRealtime();
|
||||
if (adasListener != null) {
|
||||
adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
|
||||
}
|
||||
AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user