Merge branch 'dev_robotaxi-d_240705_6.5.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_240705_6.5.0

2024-07-10 19:17:34 +08:00
parent e56634fdf9 ca26b62bbe
commit 86fcef0531
58 changed files with 467 additions and 327 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -6,36 +6,26 @@ import android.os.Message
 import android.text.TextUtils
 import android.util.Log
 import androidx.core.util.Pair
-import com.google.gson.JsonArray
-import com.google.gson.JsonObject
 import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
-import com.mogo.eagle.core.data.enums.TrafficTypeEnum
-import com.mogo.eagle.core.data.enums.WarningDirectionEnum.ALERT_WARNING_TOP
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerLocation
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType.V2X
 import com.mogo.eagle.core.data.msgbox.V2XMsg
-import com.mogo.eagle.core.function.angle.scenes.Default
-import com.mogo.eagle.core.function.angle.scenes.RoadEvent
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoV2nNioEventListener
-import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.api.hmi.xiaozhi.event.V2N
-import com.mogo.eagle.core.function.api.hmi.xiaozhi.state.State
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager.V2NCarTypeCheck
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -46,8 +36,7 @@ import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.function.biz.v2x.V2XBizTrace
-import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst
-import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
+import com.mogo.eagle.function.biz.v2x.v2n.pnc.beans.Extras
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker.Marker
 import com.mogo.eagle.function.biz.v2x.v2n.utils.EventDismissBean
@@ -57,17 +46,12 @@ import com.mogo.eagle.function.biz.v2x.v2n.utils.V2NUtils
 import com.mogo.eagle.function.biz.v2x.v2n.utils.V2XEventAnalyticsManager
 import com.mogo.map.MapDataWrapper
 import com.mogo.map.entities.Lane
-import com.mogo.map.overlay.core.Level.MAP_MARKER
-import com.mogo.map.overlay.point.Point
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.Header
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.telematics.pad.MessagePad.V2nCrossSpeed
 import mogo.v2x.MogoV2X
 import mogo.v2x.MogoV2X.RSI_PB
-import mogo.v2x.MogoV2X.RTEData_PB
-import java.util.concurrent.ConcurrentHashMap
-import java.util.concurrent.TimeUnit.SECONDS
 import kotlin.math.abs

 /**
@@ -150,7 +134,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                                    it.location = e.location
                                    it.polygon = polygon
                                }
-                            }), true, isDrawRoadLine(poiType)
+                            }, isUseGps = true), true, isDrawRoadLine(poiType)
                        )

                        val distance = CoordinateUtils.calculateLineDistance(
@@ -174,6 +158,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                            )
                        )
                        if (polygon.isNotEmpty()) {
+
                            val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
                            if (decision != null) {
                                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
@@ -323,31 +308,23 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                V2XBizTrace.onAck(TAG, mapOf("other_retrograde_vehicle" to "event == null"), true)
                return@Callback true
            }
-            val body = runCatching { GsonUtils.fromJson(event.exts, Map::class.java) }.getOrNull()
-            val cameraIp = body?.get("cameraIp") as? String ?: ""
-            val array = (body?.get("eventExtUnits") as? JsonArray)
+            val body = runCatching { GsonUtils.fromJson(event.exts, Extras::class.java) }.getOrNull()
+            val cameraIp = body?.cameraIp
+            val array = body?.eventExtUnits
            var heading = 0.0
            var uuid = ""
-            if (array != null && array.size() > 0) {
+            if (!array.isNullOrEmpty()) {
                for (e in array) {
-                    if (e is JsonObject) {
-                        if (e.has("heading")) {
-                            heading = runCatching { e.asDouble }.getOrNull() ?: 0.0
-                        }
-                        if (e.has("uuid")) {
-                            uuid = runCatching { e.asString }.getOrNull() ?: ""
-                        }
-                    }
+                    heading = e.heading ?: 0.0
+                    uuid = e.uuid ?: ""
                }
            }
            Logger.d(TAG, "cameraIp: $cameraIp, heading:$heading, uuid: $uuid")
            val newEventId = "other_retrograde_vehicle_${event.eventId}"
+            val isUseGps = event.gnssType != 0
+            val eventLocation = if (isUseGps)  arrayOf(event.longitude, event.latitude) else CoordinateTransform.GCJ02ToWGS84(event.longitude, event.latitude)
+            val carLocation = if (isUseGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
            AiRoadMarker.aiMakers.getOrPut(newEventId) {
-                val eventLocation = when (event.gnssType) {
-                    0 -> CoordinateTransform.GCJ02ToWGS84(event.longitude, event.latitude)
-                    else -> arrayOf(event.longitude, event.latitude)
-                }
-                val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
                val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, eventLocation[0], eventLocation[1])
                if (distance > 150) {
                    Logger.i(TAG, "other_retrograde_vehicle --> distance > 150")
@@ -364,11 +341,11 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    isDriver,
                    String.format(EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType), distance.toInt()),
                    cameraIp.toString(),
-                    event.longitude,
-                    event.latitude)
+                    eventLocation[0],
+                    eventLocation[1])
                AiRoadMarker()
            }.also {
-                it.marker(Marker(newEventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType, event.longitude, event.latitude, 0.0), drawMarker = true, false, isHighFrequency = true)
+                it.marker(Marker(newEventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType, eventLocation[0], eventLocation[1], heading, isUseGps = isUseGps), drawMarker = true, false, isHighFrequency = true)
            }.receive()
        } else if (msg.what == MSG_WHAT_DRAW_GREEN_WAVE) {
            val data = msg.obj as? V2nCrossSpeed ?: return@Callback true
@@ -406,35 +383,31 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
        } else if (msg.what == MSG_WHAT_DRAW_PEOPLE_CROSS) {
            Logger.i(TAG, "people cross -- 1 --")
            val data = msg.obj as? MessagePad.Event ?: return@Callback true
-            val body = runCatching { GsonUtils.fromJson(data.exts, Map::class.java) }.getOrNull()
-            val cameraIp = body?.get("cameraIp") as? String ?: ""
-            val array = (body?.get("eventExtUnits") as? JsonArray)
+            val body = runCatching { GsonUtils.fromJson(data.exts, Extras::class.java) }.getOrNull()
+            val cameraIp = body?.cameraIp
+            val array = body?.eventExtUnits
            var heading = 0.0
            var uuid = ""
-            if (array != null && array.size() > 0) {
+            if (!array.isNullOrEmpty()) {
                for (e in array) {
-                    if (e is JsonObject) {
-                        if (e.has("heading")) {
-                            heading = runCatching { e.asDouble }.getOrNull() ?: 0.0
-                        }
-                        if (e.has("uuid")) {
-                            uuid = runCatching { e.asString }.getOrNull() ?: ""
-                        }
-                    }
+                    heading = e.heading ?: 0.0
+                    uuid = e.uuid ?: ""
                }
            }
            Logger.d(TAG, "cameraIp: $cameraIp, heading:$heading, uuid: $uuid")
+            val isUseGps = data.gnssType != 0
+            val eventLocation = if (isUseGps)  arrayOf(data.longitude, data.latitude) else CoordinateTransform.GCJ02ToWGS84(data.longitude, data.latitude)
+            val carLocation = if (isUseGps) CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() else CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+            val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, eventLocation[0], eventLocation[1])
            AiRoadMarker.aiMakers.getOrPut(data.eventId) {
                Logger.i(TAG, "people cross -- 2 --")
-                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
-                val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-                val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, data.longitude, data.latitude)
                if (distance > 150) {
                    Logger.i(TAG, "people cross --> distance > 150")
                    V2XBizTrace.onAck(TAG, mapOf("people cross" to "distance > 150"), true)
                    return@Callback true
                }
                Logger.i(TAG, "people cross -- 3 --")
+                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
                // 弹事件框
                CallerRoadV2NEventWindowListenerManager.showLiveVideo(
                    data.eventId,
@@ -444,12 +417,12 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    isDriver,
                    String.format(EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType), distance.toInt()),
                    cameraIp.toString(),
-                    data.longitude,
-                    data.latitude)
+                    eventLocation[0],
+                    eventLocation[1])
               AiRoadMarker()
            }.also {
                Logger.i(TAG, "people cross -- 4 --")
-                it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, heading), drawMarker = true, false, isHighFrequency = true)
+                it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, eventLocation[0], eventLocation[1], heading, isUseGps = isUseGps), drawMarker = true, false, isHighFrequency = true)
            }.receive()
        }
        true
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/beans/Extras.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/beans/Extras.kt
@@ -0,0 +1,17 @@
+package com.mogo.eagle.function.biz.v2x.v2n.pnc.beans
+
+import androidx.annotation.Keep
+
+
+@Keep
+data class Extras (
+    val cameraIp: String? = null,
+    val eventExtUnits: List<EventExtUnit>? = null
+)
+
+
+@Keep
+data class EventExtUnit(
+    val heading: Double? = null,
+    val uuid: String? = null
+)
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -107,7 +107,7 @@ class AiRoadMarker {
            val builder = getOrPutPointOptionBuilder(markerId, V2XConst.V2X_MARKER_OWNER, MAP_MARKER)
            builder
                .set3DMode(true)
-                .isUseGps(true)
+                .isUseGps(marker.isUseGps)
                .icon3DRes(EventTypeEnumNew.getMarker3DRes(marker.poiType))
                .anchorColor("#D65D5AFF")
                .controlAngle(true)
@@ -122,7 +122,7 @@ class AiRoadMarker {
                    if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType) {
                        distance = 100
                    }
-                    val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = distance)
+                    val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, if (marker.isUseGps) 1 else 0, elapsedDistance = distance)
                    wrapper.onRemoved = {
                        builders.remove(markerId)
                        markerIds.remove(p.id)
@@ -153,7 +153,7 @@ class AiRoadMarker {
                if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
                    elapsedDuration = TimeUnit.SECONDS.toMillis(3)
                }
-                val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = elapsedDistance, elapsedDuration = elapsedDuration)
+                val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, if (marker.isUseGps) 1 else 0, elapsedDistance = elapsedDistance, elapsedDuration = elapsedDuration)
                if (drawMarker) {
                    marker.entity?.apply { roadMarker.drawMarkers(this, wrapper) }
                }
@@ -371,6 +371,7 @@ class AiRoadMarker {
        val polygon: List<Pair<Double, Double>>? = null,
        var farthestPoint: Pair<Double, Double>? = null,
        var entity: V2XRoadEventEntity? = null,
+        var isUseGps: Boolean = false
    ) {

        override fun equals(other: Any?): Boolean {
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
@@ -47,7 +47,7 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
                        List<Pair<Double, Double>> polygons = noveltyInfo.getPolygon();
                        if (gpsLocation != null && polygons != null) {
                            MarkerLocation location = noveltyInfo.getLocation();
-                            AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
+                            AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity, false);
                            AiRoadMarker aiMarker = new AiRoadMarker();
                            aiMarker.marker(m, true, isDrawRoadLine(m.getPoiType()), false);
                            AiRoadMarker.aiMakers.put(noveltyInfo.getInfoId(), aiMarker);
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2NUtils.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2NUtils.kt
@@ -8,6 +8,8 @@ import com.zhidaoauto.map.data.road.CenterLine
 import org.locationtech.jts.geom.Coordinate
 import org.locationtech.jts.geom.GeometryFactory
 import org.locationtech.jts.geom.LineString
+import org.locationtech.jts.geom.LineString.MINIMUM_VALID_SIZE
+import org.locationtech.jts.geom.Polygon
 import org.locationtech.jts.linearref.LengthIndexedLine
 import java.util.concurrent.CountDownLatch

@@ -27,8 +29,20 @@ object V2NUtils {
        }
        val occupy = ArrayList<Lane>()
        val factory = GeometryFactory()
+        val polygonList = ArrayList<Coordinate>(polygon.map { Coordinate(it.first, it.second) })
+        var p1: Polygon? = null
+        while (p1 == null) {
+            if (polygonList.size < MINIMUM_VALID_SIZE) {
+                polygonList.add(polygonList[0])
+                continue
+            }
+            try {
+                p1 = factory.createPolygon(polygonList.toTypedArray())
+            } catch (ignore: IllegalArgumentException) {
+                polygonList.add(polygonList[0])
+            }
+        }
        for (lane in lanes) {
-            val p1 = factory.createPolygon(polygon.map { Coordinate(it.first, it.second) }.toTypedArray())
            val p2 = factory.createLineString(lane.points.map { Coordinate(it.first, it.second) }.toTypedArray()).buffer((lane.width.toDouble() * 0.7 * (1e-5)) / 2.0)
            if (p1.intersects(p2)) {
                occupy += lane
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
@@ -16,6 +16,7 @@ import com.mogo.eagle.core.data.v2x.V2XEvent.RoadEventX
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
@@ -37,7 +38,9 @@ import io.netty.channel.Channel
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.TrackedObject
 import java.nio.charset.Charset
+import java.util.Collections

 class TeleMsgHandler : IMsgHandler {

@@ -103,6 +106,22 @@ class TeleMsgHandler : IMsgHandler {
                }
                return
            }
+            if (it.protocolType == TelematicConstant.V2N_AI_ROAD_SHI_GONG) {
+                runCatching {
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路施工 --- 1 ---")
+                    CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(Collections.singletonList(TrackedObject.parseFrom(msg.body)))
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路施工 --- 2 ---")
+                }
+                return
+            }
+            if (it.protocolType == TelematicConstant.V2N_AI_ROAD_SHI_GU) {
+                runCatching {
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路事故 --- 1 ---")
+                    CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate(Collections.singletonList(TrackedObject.parseFrom(msg.body)))
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的道路事故 --- 2 ---")
+                }
+                return
+            }
            if (it.protocolType == TelematicConstant.V2N_NEW_LINK_SWITCH) {
                try {
                    Log.d(TAG, "乘客屏收到司机屏转发的新链路开关 --- 1 ---")
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/font/font_din.ttf
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/font/font_din.ttf
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/exploration/AutomaticExplorationView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/exploration/AutomaticExplorationView.kt
@@ -14,6 +14,7 @@ import androidx.recyclerview.widget.LinearLayoutManager
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.autopilot.AutopilotSummaryInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.MsgCategory
@@ -21,6 +22,7 @@ import com.mogo.eagle.core.data.notice.AutoExplorationEntity
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils


@@ -125,8 +127,12 @@ class AutomaticExplorationView @JvmOverloads constructor(
                    }
                }
                if(allComplete){
-                    //语音播放
-                    AIAssist.getInstance(context).speakTTSVoice("道路畅通一切正常蘑菇型车助手将持续守候您的出行")
+                    //停止左上角扫描动画
+                    rotationAnim?.cancel()
+                    //语音播放，只在司机端播放
+                    if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+                        AIAssist.getInstance(context).speakTTSVoice("道路畅通一切正常蘑菇型车助手将持续守候您的出行")
+                    }
                    //5秒后关闭弹窗
                    val hideViewTimer =object: CountDownTimer(EXPLORATION_HIDE_TIME,EXPLORATION_HIDE_TIME){
                        override fun onTick(millisUntilFinished: Long) {
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_itinerary_summary_p.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_itinerary_summary_p.xml
@@ -128,6 +128,7 @@
            android:textSize="@dimen/sp_94"
            android:textColor="@color/summary_service_num_p"
            app:layout_constraintHorizontal_chainStyle="packed"
+            android:fontFamily="@font/font_din"
            />

        <TextView
@@ -154,6 +155,7 @@
            android:textSize="@dimen/sp_94"
            android:textColor="@color/summary_service_num_p"
            app:layout_constraintHorizontal_chainStyle="packed"
+            android:fontFamily="@font/font_din"
            />

        <TextView
@@ -180,6 +182,7 @@
            android:textSize="@dimen/sp_94"
            android:textColor="@color/summary_service_num_p"
            app:layout_constraintHorizontal_chainStyle="packed"
+            android:fontFamily="@font/font_din"
            />

        <TextView
@@ -206,6 +209,7 @@
            android:textSize="@dimen/sp_94"
            android:textColor="@color/summary_service_num_p"
            app:layout_constraintHorizontal_chainStyle="packed"
+            android:fontFamily="@font/font_din"
            />

        <TextView
@@ -232,6 +236,7 @@
            android:textSize="@dimen/sp_94"
            android:textColor="@color/summary_service_num_p"
            app:layout_constraintHorizontal_chainStyle="packed"
+            android:fontFamily="@font/font_din"
            />

        <TextView
@@ -284,6 +289,7 @@
        android:textColor="@color/summary_danger_num_p"
        android:textSize="@dimen/sp_195"
        android:layout_marginTop="@dimen/dp_120"
+        android:fontFamily="@font/font_din"
        />

    <TextView
@@ -333,6 +339,7 @@
        android:textColor="@color/summary_danger_num_p"
        android:textSize="@dimen/sp_195"
        android:layout_marginTop="@dimen/dp_120"
+        android:fontFamily="@font/font_din"
        />

    <TextView
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_auto_exploration_p.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_auto_exploration_p.xml
@@ -21,7 +21,7 @@
        android:id="@+id/tvExplorationContent"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
-        android:textSize="@dimen/sp_20"
+        android:textSize="@dimen/sp_22"
        android:textColor="@color/auto_exploration_content_p"
        android:layout_marginStart="@dimen/dp_13"
        android:layout_gravity="center_vertical"
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_automatic_exploration_p.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_automatic_exploration_p.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="@dimen/dp_580"
-    android:layout_height="@dimen/dp_520"
-    android:background="@drawable/bg_automatic_exploration"
+    android:layout_width="@dimen/dp_674"
+    android:layout_height="@dimen/dp_582"
+    android:background="@drawable/hmi_v2n_event_bg_passenger"
    xmlns:app="http://schemas.android.com/apk/res-auto">

    <ImageView
@@ -13,6 +13,8 @@
        app:layout_constraintLeft_toLeftOf="parent"
        android:src="@drawable/icon_scan"
        android:contentDescription="@string/exploration_scan"
+        android:layout_marginTop="@dimen/dp_68"
+        android:layout_marginStart="@dimen/dp_84"
        />

    <ImageView
@@ -47,6 +49,8 @@
        app:layout_constraintRight_toRightOf="parent"
        android:src="@drawable/icon_exploration_close"
        android:contentDescription="@string/exploration_close"
+        android:layout_marginTop="@dimen/dp_68"
+        android:layout_marginEnd="@dimen/dp_68"
        />

    <androidx.recyclerview.widget.RecyclerView
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/RoadCrossCameraManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/RoadCrossCameraManager.kt
@@ -7,6 +7,7 @@ import android.os.Looper
 import android.os.Message
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.voice.AIAssist
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.road.CameraDeviceInfo
 import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
@@ -15,6 +16,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84Lis
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.view.CameraMarkerView
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -30,6 +32,7 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
    companion object {

        private const val TAG = "RoadCrossCameraManager"
+        private const val REQUEST_CAMERA_MSG = 0
        private const val REMOVE_MARKER_DELAY_TIME = 10_000L

        val instance: RoadCrossCameraManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -67,7 +70,9 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
                "$M_MAP$TAG",
                "触发接口调用 dis: $distance , roadCrossEnd: ${roadCrossEnd ?: "null"} "
            )
-            AIAssist.getInstance(mContext).speakTTSVoice("蘑菇检测到前方${distance.toInt()}米您将通过路口，已为您切换展示路口全息影像")
+            if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+                AIAssist.getInstance(mContext).speakTTSVoice("蘑菇检测到前方${distance.toInt()}米您将通过路口，已为您切换展示路口全息影像")
+            }
            if (roadCrossEnd != null) {
                ndeRoadCameraNetWorkModel.getRoadCrossInfo(roadCrossEnd,
                    onSuccess = {
@@ -155,7 +160,10 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
            ndeRoadCameraNetWorkModel.cancelRequest("roadCross")
            // 清除marker
            CallerLogger.d("$M_MAP$TAG", "remove marker")
-            handler.sendEmptyMessageDelayed(0, REMOVE_MARKER_DELAY_TIME)
+            if(handler.hasMessages(REQUEST_CAMERA_MSG)){
+                handler.removeMessages(REQUEST_CAMERA_MSG)
+                handler.sendEmptyMessageDelayed(REQUEST_CAMERA_MSG, REMOVE_MARKER_DELAY_TIME)
+            }
            // 释放控制
            isCameraRequest = false
            CallerLogger.d("$M_MAP$TAG", "经过路口，释放控制")
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
@@ -4,6 +4,9 @@ import android.animation.ObjectAnimator
 import android.animation.ValueAnimator
 import android.content.Context
 import android.graphics.Rect
+import android.os.Handler
+import android.os.Looper
+import android.os.Message
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
@@ -12,11 +15,15 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.recyclerview.widget.LinearLayoutManager
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.commons.voice.AIAssist
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
+import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.map.R
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -35,10 +42,12 @@ class RoadCrossRoamView @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null,
    defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoMapRoadListener{
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoMapRoadListener, IViewControlListener {

    companion object {
        const val TAG = "RoadCrossRoamView"
+        private const val MSG_HIDE_VIEW = 0
+        private const val MSG_HIDE_VIEW_TIME = 10_000L
    }

    private var showState by Delegates.observable(false) { _, oldV, newV ->
@@ -51,6 +60,15 @@ class RoadCrossRoamView @JvmOverloads constructor(
    private var rotationAnim: ObjectAnimator? = null
    private var lightMode = CallerSkinModeListenerManager.getMode() == 1

+    private val handler = object : Handler(Looper.getMainLooper()) {
+        override fun handleMessage(msg: Message) {
+            super.handleMessage(msg)
+            if (msg.what == MSG_HIDE_VIEW) {
+                detachView()
+            }
+        }
+    }
+
    init {
        val res = if (lightMode) {
            R.layout.view_road_cross_roam_light
@@ -75,9 +93,17 @@ class RoadCrossRoamView @JvmOverloads constructor(
        }
    }

+    override fun mainPageViewVisible(v: Int) {
+        super.mainPageViewVisible(v)
+        if (v == View.GONE && this.visibility == View.VISIBLE) {
+            detachView()
+        }
+    }
+
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        CallerMapRoadListenerManager.addListener(TAG, this)
+        CallerHmiViewControlListenerManager.addListener(TAG, this)
    }

    private fun updateView(state: Boolean) {
@@ -93,11 +119,11 @@ class RoadCrossRoamView @JvmOverloads constructor(

    override fun onStopLineInfo(info: StopLine) {
        super.onStopLineInfo(info)
-        if(info.distance == 0.0 || info.distance > 200){
+        if (info.distance == 0.0 || info.distance > 200) {
            CallerLogger.d("$M_MAP$TAG", "showState return , distance is ${info.distance}")
            return
        }
-        showState = info.distance <= 200 && info.distance > 100
+        showState = info.distance in 110.0..200.0
    }

    private fun attachView() {
@@ -115,7 +141,10 @@ class RoadCrossRoamView @JvmOverloads constructor(
        mapRoamView.openRoam()
        //播放语音
        val dis = CallerMapRoadListenerManager.getStopLineDistance()?.toInt() ?: 0
-        AIAssist.getInstance(context).speakTTSVoice("前方${dis}米将通过路口，蘑菇为您提供路口全息影像，助力出行")
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            AIAssist.getInstance(context)
+                .speakTTSVoice("前方${dis}米将通过路口，蘑菇为您提供路口全息影像，助力出行")
+        }
        lvRoadCrossRoamTip.adapter = RoadCrossRoamListAdapter(context, lightMode)
        // 创建横向移动的动画
        if (animator == null) {
@@ -145,12 +174,16 @@ class RoadCrossRoamView @JvmOverloads constructor(
        } else {
            tvRoadRoamTitle.setTextColor(context.getColor(R.color.white))
        }
+        handler.sendEmptyMessageDelayed(MSG_HIDE_VIEW, MSG_HIDE_VIEW_TIME)
    }

    private fun detachView() {
        if (this.visibility == View.GONE) {
            return
        }
+        if(handler.hasMessages(MSG_HIDE_VIEW)){
+            handler.removeMessages(MSG_HIDE_VIEW)
+        }
        mapRoamView.closeRoam()
        mapRoamView.visibility = View.GONE
        CallerMapIdentifyManager.roam = Pair("", false)
@@ -169,6 +202,7 @@ class RoadCrossRoamView @JvmOverloads constructor(
            ivZhiRoadRoamView.clearAnimation()
        }
        CallerMapRoadListenerManager.removeListener(TAG)
+        CallerHmiViewControlListenerManager.removeListener(TAG)
    }

 }