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[8.1.0]cherry-pick临时分支代码

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chenfufeng
2025-06-04 16:23:21 +08:00
parent c9efc7bc64
commit 7dab0e3686
7 changed files with 63 additions and 44 deletions
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53
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
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@@ -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 {

8
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
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@@ -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);

2
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt
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@@ -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)
}
}

2
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt
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@@ -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)
}
}

2
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt
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@@ -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)