[8.0.0][Opt]优化决策、预测地图渲染

2025-05-20 10:34:18 +08:00
parent 8d762c3178
commit 89641b48df
12 changed files with 173 additions and 83 deletions
--- 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<TrackedObject>?, mapObjList: List<String>) {
+
+    }
+
    fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>, mapInstance:String) {

    }
@@ -40,6 +44,10 @@ interface Identify {

    }

+    fun clearOldMarkers(mapObjList:List<String>) {
+
+    }
+
    fun clearAiMarker(mapInstance:String) {

    }
--- 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<TrackedObject>?
-                            identify.renderAdasRecognizedResult(objectList)
+                            val mapInstanceList = ArrayList<String>()
+                            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<Prediction2025.mPredictionObjectApp>
-                            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<String>()
+                        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)
                    }
                }
            }
--- 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<TrackedObject>?, mapObjList: List<String>) {
+        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<String>) {
+        for (uuid in trafficDataUuidList) {
+            mapObjList.forEach {
+                MogoIdentifyManager.getInstance()
+                    .removeMarker(uuid, it)
+            }
+            TrackerSourceFilterHelper.removeBottomMarker(uuid)
+        }
+        trafficDataUuidList.clear()
+        mMarkersCaches.clear()
+        WarningHelper.clear()
+    }
 }
--- 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
--- 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<geometry.Geometry.Point>? = 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)
                        }
--- 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<geometry.Geometry.Point> 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<geometry.Geometry.Point> 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<MogoLatLng> 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) {
--- 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;
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/LocationUtils.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/LocationUtils.kt
@@ -1,45 +0,0 @@
-package com.mogo.eagle.core.function.utils
-
-import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
-import com.mogo.map.MogoMap
-import com.mogo.map.MogoMap.Companion.mapInstance
-
-object LocationUtils {
-    /**
-     * 必须先根据定位计算度带，即调用switchData(gnssInfo.longitude, gnssInfo.latitude, true)
-     */
-    fun generateLocation(x: Double, y: Double, heading: Double): MogoLocation? {
-        val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
-        if (mogoMap != null) {
-            val lonLat = mogoMap.switchData(x, y, false)
-            if (lonLat == null || lonLat.size < 2) return null
-            val location = MogoLocation()
-            location.longitude = lonLat[0]
-            location.latitude = lonLat[1]
-            location.heading = heading
-            return location
-        } else {
-            return null
-        }
-    }
-
-    /**
-     * 同上,必须先根据定位计算度带
-     */
-    fun generateLocation(x: Double, y: Double, preX: Double, preY: Double): MogoLocation? {
-        val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
-        if (mogoMap != null) {
-            val lonLat = mogoMap.switchData(x, y, false)
-            val preLonLat = mogoMap.switchData(preX, preY, false)
-            if (lonLat == null || lonLat.size < 2 || preLonLat == null || preLonLat.size < 2) return null
-            val location = MogoLocation()
-            location.longitude = lonLat[0]
-            location.latitude = lonLat[1]
-            location.heading = DrivingDirectionUtils.getLineAngle(lonLat[0], lonLat[1], preLonLat[0], preLonLat[1])
-            return location
-        } else {
-            return null
-        }
-    }
-}
--- 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()