From 7dab0e368678e07c5a63f763a0c0133aabaf8f7b Mon Sep 17 00:00:00 2001 From: chenfufeng Date: Wed, 4 Jun 2025 16:23:21 +0800 Subject: [PATCH] =?UTF-8?q?[8.1.0]cherry-pick=E4=B8=B4=E6=97=B6=E5=88=86?= =?UTF-8?q?=E6=94=AF=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../passenger/ui/homepage/HomeViewModel.kt | 38 ++++++------- app/build.gradle | 2 +- .../identify/MapIdentifySubscriber.kt | 53 +++++++++++++------ .../routeoverlay/PredictionOverlayDrawer.java | 8 +-- .../core/function/view/PredictionMap2View.kt | 2 +- .../core/function/view/PredictionMap3View.kt | 2 +- .../core/function/view/PredictionMapView.kt | 2 +- 7 files changed, 63 insertions(+), 44 deletions(-) diff --git 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 index 57a84256d6..355b465fd2 100644 --- 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() + } + } } } \ No newline at end of file diff --git a/app/build.gradle b/app/build.gradle index 00ee8f07cc..3043132a3f 100644 --- 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()) diff --git 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 index a681a4bdc5..9cbe1714c0 100644 --- 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 by lazy { + hashMapOf().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, mapInstance:String = MogoMap.DEFAULT) { try { ThreadUtils.getSinglePool().execute { diff --git 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 index 560f1d737f..d78b5ab784 100644 --- 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); diff --git 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 index f112f60456..dc643602b3 100644 --- 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) } } diff --git 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 index a4496a814d..6e39429da3 100644 --- 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) } } diff --git 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 index 704a9d6f1a..b79537ec11 100644 --- 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)