Merge branch 'dev_robotaxi-d_230912_6.1.0' into dev_minibus-d_230926_6.1.0

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt

@@ -66,6 +66,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     //obu数据
     @Volatile
     private var hasObuLightStatus: Boolean = false
+
+    //是否有自车感知红绿灯数据
+    @Volatile
+    private var hasAutopilotPerception: Boolean = false
+
     //红绿灯定时器，超时未更新隐藏红绿灯
     @Volatile
     private var lightCountDownTimer: CountDownTimer? = null
@@ -90,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         )
         if (!hasObuLightStatus) {
             if (!hasAiLightStatus) {
-                trafficLights?.let { it ->
+                trafficLights?.let {
                     var light: TrafficLight? = null
                     if (it.hasStraight()) {
                         light = it.straight
@@ -106,9 +111,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                         "onAutopilotPerceptionTrafficLight light = $light "
                     )
                     if (light == null) {
+                        hasAutopilotPerception = false
                         //隐藏红绿灯显示
                         hide("感知light为null隐藏", DataSourceType.TELEMATIC)
                     } else {
+                        if(!hasAutopilotPerception){
+                            hasAutopilotPerception = true
+                        }
                         onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC)
                     }
                 }
@@ -127,7 +136,6 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             )
         }
         if (!hasObuLightStatus) {
-            hasAiLightStatus = true
             CallerLogger.d(
                 "${SceneConstant.M_D_C}${TAG}",
                 "onTrafficLightStatus trafficLightResult = $trafficLightResult "
@@ -156,7 +164,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
             if (!hasObuLightStatus) {
                 CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
-                hide("云端离开路口隐藏", DataSourceType.AICLOUD)
+//                hide("云端离开路口隐藏", DataSourceType.AICLOUD)
             }
         }
     }
@@ -165,15 +173,15 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
      * 红绿灯接口请求失败
      */
     override fun onTrafficRequestError() {
-        hasAiLightStatus = false
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "onTrafficRequestError hasObuLightStatus = $hasObuLightStatus ------> "
         )
-        CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
-        if (!hasObuLightStatus) {
-            hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
-        }
+        CallerTrafficLightListenerManager.resetTrafficLightStatus(hasAiLightStatus)
+        hasAiLightStatus = false
+//        if (!hasObuLightStatus) {
+//            hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
+//        }
     }
 
     /**
@@ -186,14 +194,14 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     }
 
     /**
-     * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示的时候，不执行。否则会闪屏
+     * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示或自车感知红绿灯显示的时候，不执行。否则会闪屏
      */
     override fun resetTrafficLight(isReset: Boolean) {
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus"
         )
-        if (!hasObuLightStatus) {
+        if (!hasObuLightStatus && !hasAutopilotPerception) {
             if (isReset) {
                 hide("云端重置红绿灯数据", DataSourceType.AICLOUD)
             }
@@ -228,6 +236,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         super.onTrafficLightPlusSource(light, remain, lightSource)
         if (lightSource == DataSourceType.OBU) {
             hasObuLightStatus = true
+            hasAutopilotPerception = false
         }
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
@@ -293,6 +302,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             "updateTrafficLight ----- currentTrafficLight = $currentTrafficLight"
         )
         currentTrafficLight?.let {
+            hasAiLightStatus = true
+            hasAutopilotPerception = false
             val remain = if (it.time() > 99) {
                 99
             } else {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt

@@ -99,6 +99,10 @@ class ParallelDriveView @JvmOverloads constructor(
                     ToastUtils.showShort("请求已取消！")
                     checkAvailableAndUpdateUI()
                 }
+                AD_REQUESTING -> {
+                    Log.d(TAG, "Click-自动驾驶正在请求平行驾驶")
+                    ToastUtils.showShort("自动驾驶正在请求平行驾驶")
+                }
                 UNAVAILABLE -> {
                     Log.d(TAG, "Click-请P档驻车并松开油门刹车后请求")
                     ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
@@ -251,7 +255,7 @@ class ParallelDriveView @JvmOverloads constructor(
 
             AD_REQUESTING -> {
                 stopSyncAnimation()
-                rootLayout.isEnabled = false
+                rootLayout.isEnabled = true
                 statusIconOuter.visibility = GONE
                 rootLayout.alpha = 1f
                 statusIcon.background =

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml

@@ -290,18 +290,6 @@
                 android:textOn="关闭obu预警融合"
                 android:textSize="@dimen/dp_24" />
 
-            <ToggleButton
-                android:id="@+id/tbCronet"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启QUIC协议(网络信号差时)"
-                android:textOn="关闭QUIC协议"
-                android:textSize="@dimen/dp_24" />
-
             <!-- APP升级数据  start -->
             <ToggleButton
                 android:id="@+id/tbAppUpgrade"
@@ -2365,6 +2353,17 @@
 
                 </LinearLayout>
             </LinearLayout>
+            <ToggleButton
+                android:id="@+id/tbCronet"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启QUIC协议(服务器暂不支持)"
+                android:textOn="关闭QUIC协议"
+                android:textSize="@dimen/dp_24" />
         </LinearLayout>
 
     </androidx.core.widget.NestedScrollView>