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Merge branch 'dev_robotaxi-d-app-module_265_220329_2.6.5' into dev_robotaxi-d-app-module_265_220329_2.6.5_xin

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This commit is contained in:
xinfengkun
2022-04-24 15:37:14 +08:00
parent 94b4a81178 5956825cea
commit 8c788c055e
17 changed files with 181 additions and 665 deletions
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3
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
View File

@@ -453,6 +453,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
playTts: Boolean,
expireTime: Long
) {
val playTTS = playTts && !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
lifecycleScope.launchWhenResumed {
activity?.let {
val floatWindow = mWarningFloat
@@ -489,7 +490,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
"$M_HMI$TAG",
"mWarningFloat = $mWarningFloat---ttsContent = $ttsContent"
)
if (mWarningFloat != null && !TextUtils.isEmpty(ttsContent) && playTts) {
if (mWarningFloat != null && !TextUtils.isEmpty(ttsContent) && playTTS) {
CallerLogger.d("$M_HMI$TAG", "---> ttsContent = $ttsContent")
AIAssist.getInstance(activity)
.speakTTSVoice(ttsContent)

212
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java
View File

@@ -1,212 +0,0 @@
package com.mogo.eagle.core.function.map;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
import android.annotation.SuppressLint;
import android.content.Context;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
import com.mogo.map.MogoMap;
import com.mogo.map.MogoMarkerManager;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.AdasRecognizedType;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
import mogo.telematics.pad.MessagePad;
/**
* @author xiaoyuzhou
* @date 2021/10/19 10:45 上午
* 域控制器识别信息绘制
*/
public class IdentifyDataDrawerTest {
private static final String TAG = "IdentifyDataDrawer";
protected final Context mContext;
private static volatile IdentifyDataDrawerTest sInstance;
/**
* 上一帧数据的缓存
*/
private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
/**
* 记录每次实际绘制的交通元素UUID
*/
private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
/**
* 过滤后的数据集合
*/
private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
private IdentifyDataDrawerTest() {
mContext = AbsMogoApplication.getApp();
addPreVehicleModel();
}
public static IdentifyDataDrawerTest getInstance() {
if (sInstance == null) {
synchronized (IdentifyDataDrawerTest.class) {
if (sInstance == null) {
sInstance = new IdentifyDataDrawerTest();
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
if (resultList == null || resultList.isEmpty()) {
clearOldMarker();
CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……");
return;
}
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
clearOldMarker();
CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式");
return;
}
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
trafficDataUuidList.remove("" + data.getUuid());
}
}
trafficDataUuidList.forEach(uuid -> {
mMarkersCaches.remove(uuid);
algoCache.remove(uuid);
});
ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
if (filterList.size() > 0) {
// 绘制新数据
MogoMarkerManager.getInstance(mContext)
.updateBatchMarkerPosition(filterList);
}
}
/**
* 数据过滤器
*
* @return 过滤后的数据集合
*/
private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
mFilterTrafficData.clear();
trafficDataUuidList.clear();
for (MessagePad.TrackedObject data : trafficData) {
// 过滤掉未知感知数据
if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
continue;
}
MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid());
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude());
CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + data.getUuid() + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
// double heading = kalmanFilter(data);
MessagePad.TrackedObject correctData = data.toBuilder().setHeading(heading).build();
mFilterTrafficData.add(correctData);
//更新已存在的感知物体数据
mMarkersCaches.put("" + correctData.getUuid(), correctData);
trafficDataUuidList.add("" + correctData.getUuid());
}
return mFilterTrafficData;
}
private double kalmanFilter(MessagePad.TrackedObject data) {
String uuid = "" + data.getUuid();
if (algoCache.containsKey(uuid)) {
Object o = algoCache.get(uuid);
KalmanFilter kf = (KalmanFilter) o;
assert kf != null;
double[] lonLat = kf.filter(data.getLongitude(), data.getLatitude());
algoCache.put(uuid, kf);
MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid);
assert cacheTrackObj != null;
double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading));
return heading;
} else {
double r = 0.00005;
if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
r = 0.0001;
}
algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
return data.getHeading();
}
}
/**
* 清除旧的 marker 数据
*/
public void clearOldMarker() {
for (String uuid : trafficDataUuidList) {
MogoMarkerManager.getInstance(mContext)
.removeMarker(uuid);
}
trafficDataUuidList.clear();
}
private void addPreVehicleModel() {
CallerLogger.INSTANCE.d(TAG, "添加感知模型到地图中……");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE, "添加感知模型到地图中……preVehicleStrPeople=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE, "添加感知模型到地图中……preVehicleStrBicycle=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE, "添加感知模型到地图中……preVehicleStrTaChe=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO, "添加感知模型到地图中……preVehicleStrMoto=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS, "添加感知模型到地图中……preVehicleStrBus=");
addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK, "添加感知模型到地图中……preVehicleStrTruck=");
}
/**
* 添加模型到地图中
*
* @param typeTrafficIdWeiZhi
* @param s
*/
private void addPreVehicleModelWeiZhi(TrafficTypeEnum typeTrafficIdWeiZhi, String s) {
String preVehicleStrWeiZhi = MogoMarkerManager.getInstance(mContext)
.addPreVehicleModel(typeTrafficIdWeiZhi.getType(),
typeTrafficIdWeiZhi.getTraffic3DIconId());
CallerLogger.INSTANCE.d(TAG, s + preVehicleStrWeiZhi);
if (preVehicleStrWeiZhi == null) {
UiThreadHandler.postDelayed(new Runnable() {
@Override
public void run() {
CallerLogger.INSTANCE.w(TAG, "添加感知模型到地图中失败，尝试重复添加……");
addPreVehicleModelWeiZhi(typeTrafficIdWeiZhi, s);
}
}, 1000L);
}
}
}

5
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
View File

@@ -2,12 +2,10 @@ package com.mogo.eagle.core.function.v2x.events.scenario.scene.road;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener;
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
@@ -100,8 +98,7 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
V2XRoadEventEntity content = entity != null ? entity.getContent() : null;
if (content != null) {
//显示警告红边
boolean playTts = !entity.isOnlyShow() && !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
CallerHmiManager.INSTANCE.showWarningV2X(entity.getType(), content.getAlarmContent(), content.getTts(), TAG, this, playTts, TimeUnit.SECONDS.toMillis(5));
CallerHmiManager.INSTANCE.showWarningV2X(entity.getType(), content.getAlarmContent(), content.getTts(), TAG, this, !entity.isOnlyShow(), TimeUnit.SECONDS.toMillis(5));
}
}