[8.1.0]cherry-pick临时分支代码

2025-06-04 16:23:21 +08:00
parent c9efc7bc64
commit 7dab0e3686
7 changed files with 63 additions and 44 deletions
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/homepage/HomeViewModel.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/homepage/HomeViewModel.kt
@@ -41,35 +41,35 @@ class HomeViewModel : ViewModel(), BridgeListener, OrderListener {

    override fun onTrajectoryHaveData(haveTrajectoryInfos: Boolean) {
        this.haveTrajectoryInfos = haveTrajectoryInfos
-//        checkScreenChange()
+        checkScreenChange()
    }

    override fun onPredictionHavaData(havePredictionInfos: Boolean) {
        this.havePredictionInfos = havePredictionInfos
-//        checkScreenChange()
+        checkScreenChange()
    }

    override fun onCurrentOrderStatusChanged(order: BaseOrderBean?) {
        this.order = order
-//        checkScreenChange()
+        checkScreenChange()
    }

    fun checkScreenChange(){
-//        CallerLogger.d(TAG,"havePredictionInfos:${havePredictionInfos}--haveTrajectoryInfos:${haveTrajectoryInfos}--order:${order}")
-//        if(order!=null&&havePredictionInfos&&havePredictionInfos){
-//            FunctionBuildConfig.isDrawDecIdentifyData = true
-//            FunctionBuildConfig.isDrawPreIdentifyData = true
-//            // 展示三联屏
-//            BizLoopManager.runInMainThread{
-//                this.viewCallback?.showThreeScreen()
-//            }
-//        }else{
-//            FunctionBuildConfig.isDrawDecIdentifyData = false
-//            FunctionBuildConfig.isDrawPreIdentifyData = false
-//            // 展示二联屏幕
-//            BizLoopManager.runInMainThread{
-//                this.viewCallback?.showTwoScreen()
-//            }
-//        }
+        CallerLogger.d(TAG,"havePredictionInfos:${havePredictionInfos}--haveTrajectoryInfos:${haveTrajectoryInfos}--order:${order}")
+        if(order!=null&&havePredictionInfos&&havePredictionInfos){
+            FunctionBuildConfig.isDrawDecIdentifyData = true
+            FunctionBuildConfig.isDrawPreIdentifyData = true
+            // 展示三联屏
+            BizLoopManager.runInMainThread{
+                this.viewCallback?.showThreeScreen()
+            }
+        }else{
+            FunctionBuildConfig.isDrawDecIdentifyData = false
+            FunctionBuildConfig.isDrawPreIdentifyData = false
+            // 展示二联屏幕
+            BizLoopManager.runInMainThread{
+                this.viewCallback?.showTwoScreen()
+            }
+        }
    }
 }
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -9,7 +9,7 @@ apply plugin: 'kotlin-android-extensions'
 apply plugin: 'kotlin-kapt'
 apply plugin: ly.count.android.plugins.UploadSymbolsPlugin

-apply from: rootProject.file('gradle/bytex/bytex.gradle')
+//apply from: rootProject.file('gradle/bytex/bytex.gradle')

 Properties properties = new Properties()
 properties.load(project.rootProject.file("gradle.properties").newDataInputStream())
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.business.identify

-import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -9,8 +8,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer
-import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer2
-import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer3
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getLocationHeading
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getWgs84Lat
@@ -19,8 +16,9 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.map.MogoMap
 import com.mogo.map.MogoMap.Companion.mapInstance
-import com.mogo.map.identify.MogoIdentifyManager
 import com.mogo.map.utils.LocationUtils
+import com.zhjt.mogo.adas.data.Adas.TrackedObjectClassID
+import com.zhjt.mogo.adas.data.Adas.TrackedObjectType
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.yycp.api.proto.SocketDownData
@@ -37,6 +35,21 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,

    private val TAG = "MapIdentifySubscriber"

+    private val typeMap: HashMap<TrackedObjectType, TrackedObjectClassID> by lazy {
+        hashMapOf<TrackedObjectType, TrackedObjectClassID>().apply {
+            put(TrackedObjectType.TYPE_PEDESTRIAN, TrackedObjectClassID.Person)
+            put(TrackedObjectType.TYPE_MOTOR, TrackedObjectClassID.MotorCycle)
+            put(TrackedObjectType.TYPE_BICYCLE, TrackedObjectClassID.Bicycle)
+            put(TrackedObjectType.TYPE_CAR, TrackedObjectClassID.Car)
+            put(TrackedObjectType.TYPE_TRUCK, TrackedObjectClassID.Truck)
+            put(TrackedObjectType.TYPE_BUS, TrackedObjectClassID.Bus)
+            put(TrackedObjectType.TYPE_WARNINGTRIANGLE, TrackedObjectClassID.WarningTriangle)
+            put(TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501, TrackedObjectClassID.RoadWork_occupy_0501)
+            put(TrackedObjectType.TYPE_ROADWORK_BREAK_0502, TrackedObjectClassID.RoadWork_break_0502)
+            put(TrackedObjectType.TYPE_ROAD_CONGESTION, TrackedObjectClassID.ROAD_CONGESTION)
+        }
+    }
+
    init {
        onCrate()
    }
@@ -102,24 +115,24 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
                            probability1 = preObj.predictionTrajectoryList[0].predictionProbability
                            probability2 = preObj.predictionTrajectoryList[1].predictionProbability
                            CallerAutopilotIdentifyListenerManager.invokeProbabilityChanged(probability1, probability2)
-                            if (probability1 >= probability2) {
-                                MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP)
-                                largeType = 2
-                            } else {
-                                MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP)
-                                largeType = 3
-                            }
-                            PredictionOverlayDrawer2.getInstance().drawPredictionList(carPoiList1, getLocationHeading(), false, 2, largeType)
-                            PredictionOverlayDrawer3.getInstance().drawPredictionList(carPoiList2, getLocationHeading(), false, 3, largeType)
-                            MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP2)
-                            MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP3)
+//                            if (probability1 >= probability2) {
+////                                MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP)
+//                                largeType = 2
+//                            } else {
+////                                MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP)
+//                                largeType = 3
+//                            }
+//                            PredictionOverlayDrawer2.getInstance().drawPredictionList(carPoiList1, getLocationHeading(), false, 2, largeType)
+//                            PredictionOverlayDrawer3.getInstance().drawPredictionList(carPoiList2, getLocationHeading(), false, 3, largeType)
+//                            MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP2)
+//                            MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP3)
                        } else {
-                            if (preObj.predictionTrajectoryList.isNullOrEmpty() || mogoMap == null) return@forEach
+                            if (preObj.predictionTrajectoryList.isNullOrEmpty() || isUnKnownType(preObj.classtype) || mogoMap == null) return@forEach
                            point = preObj.predictionTrajectoryList[0].trajectoryPointsList[0]
                            arr = mogoMap.switchData(point.x, point.y, false)
                            arr?.let { lonLatArr ->
                                val distance = com.mogo.eagle.core.utilcode.util.LocationUtils.getDistance(getWgs84Lat(), getWgs84Lon(), lonLatArr[1], lonLatArr[0])
-                                if (distance > 25) return@forEach
+                                if (distance > 30) return@forEach
                            }
                            preObj.predictionTrajectoryList[0].trajectoryPointsList.forEachIndexed { index, point ->
                                if (index > 9 && index % 2 == 0) {// 步长为2，减少点
@@ -140,6 +153,12 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
        }
    }

+    private fun isUnKnownType(classType: Int): Boolean {
+        val type: TrackedObjectType = TrackedObjectType.forNumber(classType) ?: return true
+        var classID: TrackedObjectClassID? = typeMap[type] ?: return true
+        return false
+    }
+
    fun renderAiCloudResult(cloudData: List<SocketDownData.CloudRoadDataProto>, mapInstance:String = MogoMap.DEFAULT) {
        try {
            ThreadUtils.getSinglePool().execute {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
@@ -140,15 +140,15 @@ public class PredictionOverlayDrawer {
                    if (mPolylineOptions == null) {
                        builder = new Polyline.Options.Builder("pred_overlay", Level.GUIDE_ROUTE_LINE)
                                .setUseGps(true)
-                                .setWidth(5)
+                                .setWidth(4)
                                .setIsGradient(true);
                    } else {
                        builder = mPolylineOptions.builder();
                    }
-                    builder.color(Color.rgb(196, 196, 196));
-                    builder.setIsGradient(false);
+                    builder.color(Color.argb(102,48,163,255));
+                    builder.setIsGradient(true);
                    builder.setLightOn(false);
-                    builder.setIsDottedLine(false);
+                    builder.setIsDottedLine(true);
                    builder.isShowArrow(false);
                    builder.points(pps);
                    builder.setVisible(true);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt
@@ -116,6 +116,6 @@ class PredictionMap2View(context: Context, attrs: AttributeSet) : MogoMapView(co

    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        // 跟新地图控件
-//        setExtraGPSData(gnssInfo)
+        setExtraGPSData(gnssInfo)
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt
@@ -116,7 +116,7 @@ class PredictionMap3View(context: Context, attrs: AttributeSet) : MogoMapView(co

    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        // 跟新地图控件
-//        setExtraGPSData(gnssInfo)
+        setExtraGPSData(gnssInfo)
    }

 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt
@@ -129,7 +129,7 @@ class PredictionMapView(context: Context, attrs: AttributeSet) : MogoMapView(con

    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        // 跟新地图控件
-//        setExtraGPSData(gnssInfo)
+        setExtraGPSData(gnssInfo)
        if (System.currentTimeMillis() - lastTime >= 5000) {
            // 预测给的UTM坐标数据没有带上度带信息，根据定位计算度带
            mapInstance.getMogoMap(MogoMap.DEFAULT)?.switchData(gnssInfo.longitude, gnssInfo.latitude, true)