diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt index e687c5bceb..42218ab436 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt @@ -16,6 +16,10 @@ interface Identify { } + fun renderAdasRegResults(resultList: List?, mapObjList: List) { + + } + fun renderAiCloudResult(resultList: List, mapInstance:String) { } @@ -40,6 +44,10 @@ interface Identify { } + fun clearOldMarkers(mapObjList:List) { + + } + fun clearAiMarker(mapInstance:String) { } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt index 53ace30ffa..cadc8af2b1 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt @@ -33,8 +33,9 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf // 预测 object PreDriverIdentify { - internal val preDataDrawer = IdentifyPredictionDataDrawer() -// internal val preDataDrawer2 = IdentifyPredictionDataDrawer() + internal val preDataDrawer = IdentifyOriginDataDrawer() + + // internal val preDataDrawer2 = IdentifyPredictionDataDrawer() // internal val preDataDrawer3 = IdentifyPredictionDataDrawer() internal val preDataDrawer2 = IdentifyOriginDataDrawer() internal val preDataDrawer3 = IdentifyOriginDataDrawer() @@ -47,16 +48,19 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf private var identify: Identify = DriverIdentify.originDataDrawer private var aiCloudIdentify: Identify? = null + // 预测 private var preIdentify: Identify = PreDriverIdentify.preDataDrawer - private var preIdentify2: Identify = PreDriverIdentify.preDataDrawer2 - private var preIdentify3: Identify = PreDriverIdentify.preDataDrawer3 + + // private var preIdentify2: Identify = PreDriverIdentify.preDataDrawer2 +// private var preIdentify3: Identify = PreDriverIdentify.preDataDrawer3 // 决策 private var desIdentify: Identify = DesDriverIdentify.desDataDrawer private var startTime: Long = 0L - private var preStartTime: Long = 0L - private var desStartTime: Long = 0L + + // private var preStartTime: Long = 0L +// private var desStartTime: Long = 0L private var dockerVersion: String? = null fun initType() { @@ -96,33 +100,24 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf if (internal >= 1000) { lostFrame(internal.toString()) identify.clearOldMarker() - } - if (FunctionBuildConfig.isDrawPreIdentifyData && TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - preStartTime) >= 1000) { preIdentify.clearOldMarker() } - if (FunctionBuildConfig.isDrawDecIdentifyData && TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - desStartTime) >= 1000) { - desIdentify.clearOldMarker() - preIdentify2.clearOldMarker() - preIdentify3.clearOldMarker() - } sendEmptyMessageDelayed(MSG_CHECK, 1000L) } MSG_DATA_TRACK -> { if (msg.obj is List<*>) { val objectList = msg.obj as List? - identify.renderAdasRecognizedResult(objectList) + val mapInstanceList = ArrayList() + mapInstanceList.add(MogoMap.DEFAULT) +// if (FunctionBuildConfig.isDrawDecIdentifyData) { +// mapInstanceList.add(MogoMap.SMALL_DES_MAP) +// } + if (FunctionBuildConfig.isDrawPreIdentifyData) { + mapInstanceList.add(MogoMap.SMALL_PRED_MAP) + } + identify.renderAdasRegResults(objectList, mapInstanceList) startTime = System.nanoTime() - - if (FunctionBuildConfig.isDrawDecIdentifyData) { - desIdentify.renderAdasRegResult(objectList, MogoMap.SMALL_DES_MAP) - desStartTime = System.nanoTime() - } - if (FunctionBuildConfig.isDrawPreIdentifyData) { - preIdentify2.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP2) - preIdentify3.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP3) - preStartTime = System.nanoTime() - } } } @@ -138,7 +133,7 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf MSG_DATA_PRE_TRACK -> { if (msg.obj is List<*>) { val objectList = msg.obj as List - preIdentify.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP) +// preIdentify.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP) // preIdentify2.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP2) // preIdentify3.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP3) } @@ -163,7 +158,10 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf } MSG_DATA_CLEAR -> { - identify.clearOldMarker() + val mapInstanceList = ArrayList() + mapInstanceList.add(MogoMap.DEFAULT) + mapInstanceList.add(MogoMap.SMALL_PRED_MAP) + identify.clearOldMarkers(mapInstanceList) } MSG_DATA_AI_CLEAR -> { @@ -172,8 +170,8 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf MSG_DATA_PRE_CLEAR -> { preIdentify.clearPredictionMarker(MogoMap.SMALL_PRED_MAP) - preIdentify2.clearPredictionMarker(MogoMap.SMALL_PRED_MAP2) - preIdentify3.clearPredictionMarker(MogoMap.SMALL_PRED_MAP3) +// preIdentify2.clearPredictionMarker(MogoMap.SMALL_PRED_MAP2) +// preIdentify3.clearPredictionMarker(MogoMap.SMALL_PRED_MAP3) } } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt index c384b08074..b0a1ff6db4 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt @@ -126,6 +126,49 @@ class IdentifyOriginDataDrawer : Identify { } } + override fun renderAdasRegResults(resultList: List?, mapObjList: List) { + if (resultList.isNullOrEmpty()) { + clearOldMarker() + return + } + if (!MogoStatusManager.getInstance().isVrMode) { + clearOldMarker() + return + } + + //清除缓存 + for (data in resultList) { + if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains(data.uuid.toString())) { + if (TrackerSourceFilterHelper.filterData(data)) { + continue + } + trafficDataUuidList.remove(data.uuid.toString()) + } + } + + //清除缓存,删除marker + val it: MutableIterator<*> = trafficDataUuidList.iterator() + while (it.hasNext()) { + val key = it.next() as String + it.remove() + mMarkersCaches.remove(key) + mapObjList.forEach { + MogoIdentifyManager.getInstance() + .removeMarker(key, it) + } + TrackerSourceFilterHelper.removeBottomMarker(key) + } + + val filterList = filterTrafficData(resultList) + if (filterList.size > 0) { + // 绘制新数据 + mapObjList.forEach { + MogoIdentifyManager.getInstance() + .updateBatchMarkerPosition(filterList, it) + } + } + } + /** * 数据过滤器 * @@ -169,4 +212,16 @@ class IdentifyOriginDataDrawer : Identify { WarningHelper.clear() } + override fun clearOldMarkers(mapObjList: List) { + for (uuid in trafficDataUuidList) { + mapObjList.forEach { + MogoIdentifyManager.getInstance() + .removeMarker(uuid, it) + } + TrackerSourceFilterHelper.removeBottomMarker(uuid) + } + trafficDataUuidList.clear() + mMarkersCaches.clear() + WarningHelper.clear() + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt index f9a26cb2d3..5617415efa 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt @@ -48,8 +48,8 @@ class IdentifyPredictionDataDrawer : Identify { } //清除缓存 for (data in predictionObjectList) { - if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.mNid)) { - trafficDataUuidList.remove("" + data.mNid) + if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("${data.mNid-800000}")) { + trafficDataUuidList.remove("${data.mNid-800000}") } } @@ -81,7 +81,7 @@ class IdentifyPredictionDataDrawer : Identify { mFilterTrafficData.clear() trafficDataUuidList.clear() for (data in trafficData) { - val uuid = "" + data.mNid + val uuid = "${data.mNid-800000}" mMarkersCaches[uuid] = data trafficDataUuidList.add(uuid) mFilterTrafficData[uuid] = data 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 bf023ed016..0932283945 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 @@ -1,5 +1,6 @@ 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.MogoLocation import com.mogo.eagle.core.data.traffic.TrafficData @@ -9,11 +10,12 @@ 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.call.autopilot.CallerAutopilotIdentifyListenerManager +import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84 import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager -import com.mogo.eagle.core.function.utils.LocationUtils import com.mogo.eagle.core.utilcode.util.ThreadUtils import com.mogo.map.MogoMap import com.mogo.map.identify.MogoIdentifyManager +import com.mogo.map.utils.LocationUtils import mogo.telematics.pad.MessagePad import mogo.telematics.pad.MessagePad.TrackedObject import mogo.yycp.api.proto.SocketDownData @@ -69,12 +71,15 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, private var carPoiList2: List? = null private var location1: MogoLocation? = null private var location2: MogoLocation? = null + private var probability1: Float = 0f + private var probability2: Float = 0f + override fun onPredictionObstacleTrajectory(predictionObjects: Prediction2025.mPredictionObjects) { if (FunctionBuildConfig.isDrawPreIdentifyData) { try { ThreadUtils.getSinglePool().execute { - // 渲染它车 - IdentifyFactory.renderPredictionResult(predictionObjects.objsAppList) +// // 渲染它车 +// IdentifyFactory.renderPredictionResult(predictionObjects.objsAppList) // 渲染自车 predictionObjects.objsAppList.forEach { preObj -> if (preObj.mNid == 800000L) { @@ -83,18 +88,22 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, carPoiList1 = preObj.predictionTrajectoryList[0].trajectoryPointsList carPoiList2 = preObj.predictionTrajectoryList[1].trajectoryPointsList val largeType: Int - location1 = LocationUtils.generateLocation(carPoiList1!![0].x, carPoiList1!![0].y, carPoiList1!![1].x, carPoiList1!![1].y) - location2 = LocationUtils.generateLocation(carPoiList2!![0].x, carPoiList2!![0].y, carPoiList2!![1].x, carPoiList2!![1].y) + val heading = getChassisLocationWGS84().heading + location1 = LocationUtils.generateLocation(carPoiList1!![0].x, carPoiList1!![0].y, heading) + location2 = LocationUtils.generateLocation(carPoiList2!![0].x, carPoiList2!![0].y, heading) if (location1 == null || location2 == null) return@forEach - if (preObj.predictionTrajectoryList[0].predictionProbability >= preObj.predictionTrajectoryList[1].predictionProbability) { + 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 } - PredictionOverlayDrawer.getInstance().drawPredictionList(carPoiList1, location1!!.heading, false, 2, largeType) - PredictionOverlayDrawer2.getInstance().drawPredictionList(carPoiList2, location2!!.heading, false, 3, largeType) + PredictionOverlayDrawer.getInstance().drawPredictionList(carPoiList1, heading, false, 2, largeType) + PredictionOverlayDrawer2.getInstance().drawPredictionList(carPoiList2, heading, false, 3, largeType) MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP2) MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP3) } 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 4682adb9a5..294242ad11 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 @@ -234,7 +234,7 @@ public class PredictionOverlayDrawer { Polyline.Options.Builder builder; if (mPolylineOptions == null) { - builder = new Polyline.Options.Builder("router_overlay", Level.GUIDE_ROUTE_LINE) + builder = new Polyline.Options.Builder("prediction_overlay" + preViewType, Level.GUIDE_ROUTE_LINE) .setUseGps(true) .setWidth(20) .setIsGradient(true); @@ -280,9 +280,6 @@ public class PredictionOverlayDrawer { } else if (preViewType == 3) { overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP3); } - if (preViewType == largeType) { - overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP); - } } } else { isExcept = true; @@ -311,11 +308,10 @@ public class PredictionOverlayDrawer { } private volatile RenderTask mPreRenderTask; - private volatile RenderTask mPreRenderTask2; public void drawPredictionList(List dataList, double bearing, boolean hasGreenWave, int preType, int largeType) { IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT); - double[] arr = null; + double[] arr; if (mogoOverlayManager != null && iMogoMap != null) { if (mPreRenderTask == null) { mPreRenderTask = new RenderTask(); @@ -335,28 +331,6 @@ public class PredictionOverlayDrawer { } } - public void drawPredictionList2(List dataList, double bearing, boolean hasGreenWave, int preType, int largeType) { - IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT); - double[] arr = null; - if (mogoOverlayManager != null) { - if (mPreRenderTask2 == null) { - mPreRenderTask2 = new RenderTask(); - } - List latLngList = new ArrayList<>(); - for (geometry.Geometry.Point point : dataList) { - arr = iMogoMap.switchData(point.getX(), point.getY(), false); - if (arr == null || arr.length < 2) continue; - latLngList.add(new MogoLatLng(arr[0], arr[1])); - } - if (latLngList.isEmpty()) return; - mPreRenderTask2.setPreData(latLngList, bearing, hasGreenWave, preType, largeType); - if (mRenderHandler != null) { - mRenderHandler.removeCallbacks(mPreRenderTask2); - mRenderHandler.post(mPreRenderTask2); - } - } - } - public void setVisible(boolean isVisible) { if (mogoOverlayManager != null) { if (isVisible) { diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java index c882c7e808..f273e10057 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java @@ -51,7 +51,7 @@ public class PredictionOverlayDrawer2 { mogoOverlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager(); if (mogoOverlayManager != null) { // 线条粗细，渐变，渐变色值 - HandlerThread renderTask = new HandlerThread("prediction_render") { + HandlerThread renderTask = new HandlerThread("prediction_render2") { @Override protected void onLooperPrepared() { super.onLooperPrepared(); @@ -232,7 +232,7 @@ public class PredictionOverlayDrawer2 { Polyline.Options.Builder builder; if (mPolylineOptions == null) { - builder = new Polyline.Options.Builder("router_overlay", Level.GUIDE_ROUTE_LINE) + builder = new Polyline.Options.Builder("prediction_overlay" + preViewType, Level.GUIDE_ROUTE_LINE) .setUseGps(true) .setWidth(20) .setIsGradient(true); @@ -278,9 +278,6 @@ public class PredictionOverlayDrawer2 { } else if (preViewType == 3) { overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP3); } - if (preViewType == largeType) { - overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP); - } } } else { isExcept = true; diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt index 20b2c5b6c0..d241c16476 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt @@ -1,26 +1,41 @@ package com.mogo.eagle.core.function.view +import android.annotation.SuppressLint import android.content.Context import android.os.Bundle import android.util.AttributeSet import android.view.LayoutInflater import androidx.constraintlayout.widget.ConstraintLayout +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener +import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager import com.mogo.eagle.core.function.map.R +import com.mogo.eagle.core.utilcode.util.ThreadUtils import kotlinx.android.synthetic.main.layout_decision_container.view.decMapView import kotlinx.android.synthetic.main.layout_decision_container.view.preDetailView2 import kotlinx.android.synthetic.main.layout_decision_container.view.preDetailView3 +import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre1 +import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre2 +import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre3 class DecisionLayout @JvmOverloads constructor( context: Context, attrs: AttributeSet? = null -) : ConstraintLayout(context, attrs) { +) : ConstraintLayout(context, attrs), IMoGoAutopilotIdentifyListener { + + companion object { + private const val TAG = "DecisionLayout" + } + + @Volatile + private var lastTime = 0L + init { LayoutInflater.from(context).inflate(R.layout.layout_decision_container, this, true) initView() } private fun initView() { - + CallerAutopilotIdentifyListenerManager.addListener(TAG, this) } fun onCreate(savedInstanceState: Bundle?) { @@ -41,6 +56,30 @@ class DecisionLayout @JvmOverloads constructor( preDetailView3.onResume() } + @SuppressLint("SetTextI18n") + override fun onPredictionProbabilityChanged(pro1: Float, pro2: Float) { + if (System.currentTimeMillis() - lastTime >= 1000) { + ThreadUtils.runOnUiThread { + val prob1: Int + val prob2: Int + val prob3: Int + if (pro1 + pro2 < 50) { + prob1= (pro1*100).toInt() + prob3= (pro2*100).toInt() + prob2 = 100 - prob1 - prob3 + } else { + prob1 = 15 * (pro1 / (pro1 + pro2)).toInt() + prob3 = 15 * (pro2 / (pro1 + pro2)).toInt() + prob2 = 100 - prob1 - prob3 + } + tvPre1.text = "${prob1}%" + tvPre3.text = "${prob3}%" + tvPre2.text = "${prob2}%" + } + lastTime = System.currentTimeMillis() + } + } + fun onLowMemory() { decMapView.onLowMemory() preDetailView2.onLowMemory() diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt index 5caedcb4d9..444b62c551 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt @@ -60,4 +60,5 @@ interface IMoGoAutopilotIdentifyListener { */ fun onAutopilotV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) {} + fun onPredictionProbabilityChanged(pro1: Float, pro2: Float) {} } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt index 20b0ac70d9..c87b8e9974 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt @@ -66,4 +66,11 @@ object CallerAutopilotIdentifyListenerManager : CallerBase pointList = preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList(); if (pointList.size() >= 2) { - return (float) DrivingDirectionUtils.getLineAngle(pointList.get(0).getX(), pointList.get(0).getY(), pointList.get(1).getX(), pointList.get(1).getY()); + return LocationUtils.INSTANCE.generateLocation(pointList.get(0).getX(), pointList.get(0).getY(), pointList.get(1).getX(), pointList.get(1).getY()); } else { - return 0; + return null; } }