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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

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lixiaopeng
2023-01-06 11:34:15 +08:00
parent 417586241a 8897667df1
commit 7ba81fffae
20 changed files with 2008 additions and 15 deletions
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12
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
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@@ -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

5
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
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@@ -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

610
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoObuDcCombineManager.kt Normal file
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@@ -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)
}
}
}
}

97
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertDcCombineUtils.kt Normal file
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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
}
}