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Merge remote-tracking branch 'origin/feature/feature_mogo_obu' into feature/feature_mogo_obu

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This commit is contained in:
董宏宇
2021-08-09 10:49:35 +08:00
parent 359c3e4c11 fd09d0b365
commit 8efe3f2d5e
4 changed files with 283 additions and 306 deletions
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3
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.java
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@@ -19,7 +19,8 @@ public class MoGoObuProvider implements IMoGoObuProvider {
public void init(Context context) {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "初始化蘑菇自研OBU……");
MogoPrivateObuManager.getInstance().init(context);
// MogoPrivateObuManager.getInstance().init(context);
MogoPrivateObuManager.Companion.getINSTANCE().init(context);
}

52
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoObuConst.java
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@@ -16,24 +16,32 @@ public class MogoObuConst {
* 前碰撞预警
*/
public static final int TYPE_FRONT_COLLISION_WARNING = 101;
public static final String TYPE_FRONT_COLLISION_WARNING_TEXT = "前车碰撞预警";
public static final String TYPE_FRONT_COLLISION_WARNING_VOICE_TEXT = "前车碰撞预警";
/**
* 交叉路口碰撞预警
*/
public static final int TYPE_CROSS_COLLISION_WARNING = 102;
public static final String TYPE_CROSS_COLLISION_WARNING_TEXT = "交叉路口碰撞预警";
public static final String TYPE_CROSS_COLLISION_WARNING_VOICE_TEXT = "注意交叉路口车辆";
/**
* 左转辅助
*/
public static final int TYPE_TURN_LEFT_WARN = 103;
public static final String TYPE_TURN_LEFT_WARN_TEXT = "左转碰撞预警";
public static final String TYPE_TURN_LEFT_WARN_VOICE_TEXT = "注意左前车辆";
/**
* 盲区预警
* 盲区预警 -1
*/
public static final int TYPE_BLIND_ASSIST_WARN = 104;
public static final String TYPE_BLIND_ASSIST_WARN_TEXT = "盲区碰撞预警";
public static final String TYPE_BLIND_ASSIST_WARN_VOICE_TEXT = "注意左后车辆/注意右后车辆";
/**
* 变道预警
* 变道预警 -2
*/
public static final int TYPE_CHANGE_LANES_WARN = 105;
@@ -41,62 +49,80 @@ public class MogoObuConst {
* 逆向超车预警
*/
public static final int TYPE_REVERSE_OVERTAKING_WARN = 106;
public static final String TYPE_REVERSE_OVERTAKING_WARN_TEXT = "逆向超车预警";
public static final String TYPE_REVERSE_OVERTAKING_WARN_VOICE_TEXT = "注意逆向车道车辆";
/**
* 紧急制动预警
* 紧急制动预警/前车急刹
*/
public static final int TYPE_URGENCY_COLLISION_WARNING = 107;
public static final String TYPE_URGENCY_COLLISION_WARNING_TEXT = "前车急刹车";
public static final String TYPE_URGENCY_COLLISION_WARNING_VOICE_TEXT = "前车急刹车";
/**
* 异常车辆预警
* 异常车辆预警 -1
*/
public static final int TYPE_UNUSUAL_CAR_WARN = 108;
public static final String TYPE_UNUSUAL_CAR_WARN_TEXT = "前车异常";
public static final String TYPE_UNUSUAL_CAR_WARN_VOICE_TEXT = "前车异常";
/**
* 车辆失控预警
* 车辆失控预警 -1
*/
public static final int TYPE_CAR_OUT_OF_CONTROL_WARN = 109;
public static final String TYPE_CAR_OUT_OF_CONTROL_WARN_TEXT = "前车失控预警";
public static final String TYPE_CAR_OUT_OF_CONTROL_WARN_VOICE_TEXT = "前车失控预警";
/**
* 限速预警
* 限速预警 -1 ?
*/
public static final int TYPE_LIMIT_SPEED_WARN = 110;
public static final String TYPE_LIMIT_SPEED_WARN_TEXT = "用户已超速";
public static final String TYPE_LIMIT_SPEED_WARN_VOICE_TEXT = "前车失控预警";
/**
* 闯红灯预警
* 闯红灯预警 ?
*/
public static final int TYPE_RUSH_RED_LIGHT = 111;
/**
* 行人碰撞预警
* 行人/摩托车 碰撞预警 -1 根据类型判断
*/
public static final int TYPE_ROAD_USER_COLLISION_WARNING = 112;
/**
* 绿波车速引导
* 绿波车速引导 -1？
*/
public static final int TYPE_OPTIMAL_SPEED_ADVISORY = 113;
/**
* 道路危险情况预警
* 道路危险情况预警 -1
*/
public static final int TYPE_UNUSUAL_ROAD_WARN = 114;
public static final String TYPE_UNUSUAL_ROAD_WARN_TEXT = "道路危险情况预警";
public static final String TYPE_UNUSUAL_ROAD_WARN_VOICE_TEXT = "前方路况危险";
/**
* 交通标牌提示
* 交通标牌提示 ？
*/
public static final int TYPE_TRAFFIC_SIGN_INFO = 115;
/**
* 前方拥堵提醒
* 前方拥堵提醒 ?
*/
public static final int TYPE_BLOCK_WARN = 116;
public static final String TYPE_BLOCK_WARN_TEXT = "前方道路拥堵";
public static final String TYPE_BLOCK_WARN_VOICE_TEXT = "前方X米道路拥堵，请减速慢行";
/**
* 紧急车辆提示预警
*/
public static final int TYPE_PRESSING_CAR_WARN = 117;
public static final String TYPE_PRESSING_CAR_WARN_TEXT = "请避让特种车辆";
public static final String TYPE_PRESSING_CAR_WARN_VOICE_TEXT = "后方存在特殊车辆，请安排避让";

292
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.java
View File

@@ -1,292 +0,0 @@
package com.mogo.module.obu.mogo;
import android.content.Context;
import com.mogo.module.common.entity.V2XMessageEntity;
import com.mogo.module.common.entity.V2XObuEventEntity;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.utils.logger.Logger;
import com.zhidao.support.obu.MogoObuManager;
import com.zhidao.support.obu.OnMogoObuListener;
import com.zhidao.support.obu.constants.ObuConstants;
import com.zhidao.support.obu.model.CvxAppInitIndInfo;
import com.zhidao.support.obu.model.CvxHvCarIndInfo;
import com.zhidao.support.obu.model.CvxHvInfoIndInfo;
import com.zhidao.support.obu.model.CvxRvInfoIndInfo;
import com.zhidao.support.obu.model.CvxSetConfigCfmInfo;
import com.zhidao.support.obu.model.CvxV2vThreatIndInfo;
import java.util.ArrayList;
import java.util.List;
import static com.mogo.module.obu.mogo.MogoObuConst.TAG_MOGO_OBU;
/**
* obu数据管理类封装
*
* @author lixiaopeng
*/
public class MogoPrivateObuManager {
final String icw_data = "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710";
private List<ADASRecognizedResult> resultList = null;
private MogoPrivateObuManager() {
}
private volatile static MogoPrivateObuManager instance = null;
public static MogoPrivateObuManager getInstance() {
if (instance == null) {
synchronized (MogoPrivateObuManager.class) {
if (instance == null) {
instance = new MogoPrivateObuManager();
}
}
}
return instance;
}
public void init(Context context) {
Logger.d(TAG_MOGO_OBU, "obuManager初始化--");
//自研obu
MogoObuManager.getInstance().init(context);
MogoObuManager.getInstance().connect("192.168.1.199");
MogoObuManager.getInstance().registerListener(mogoObuListener);
//TODO 测试
// UiThreadHandler.postDelayed( () -> {
//// MogoObuManager.getInstance().test(icw_data);
// MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(3, MogoReceiver.ACTION_V2X_FRONT_WARNING);
// handleSdkObu(105);
//
// }, 5_000L );
}
private OnMogoObuListener mogoObuListener = new OnMogoObuListener() {
@Override
public void onConnected() {
//OBU连接成功
Logger.d(TAG_MOGO_OBU, "onConnected ------> ");
}
@Override
public void onConnectFail(boolean isNeedReconnect) {
Logger.d(TAG_MOGO_OBU, "onConnectFail ------> ");
//OBU连接失败
}
@Override
public void onDisconnect() {
Logger.d(TAG_MOGO_OBU, "onDisconnect ------> ");
//OBU断开连接
}
@Override
public void onReceiveOriginData(String data) {
super.onReceiveOriginData(data);
Logger.d(TAG_MOGO_OBU, "onReceiveOriginData ------> data = " + data);
//接收到的原始数据
}
@Override
public void onSendData(byte[] bytes) {
super.onSendData(bytes);
//发送的数据
Logger.d(TAG_MOGO_OBU, "onSendData ------> ");
}
@Override
public void onCvxAppInitIndInfo(CvxAppInitIndInfo info) {
super.onCvxAppInitIndInfo(info);
Logger.d(TAG_MOGO_OBU, "onCvxAppInitIndInfo ------> " + info.toString());
//CV2X系统信息
}
@Override
public void onCvxSetConfigCfm(CvxSetConfigCfmInfo info) {
super.onCvxSetConfigCfm(info);
Logger.d(TAG_MOGO_OBU, "onCvxSetConfigCfm ------> " + info.toString());
//设置CV2X系统的配置确认
}
@Override
public void onCvxHvCarIndInfo(CvxHvCarIndInfo info) {
//主车车辆信息
Logger.d(TAG_MOGO_OBU, "onCvxHvCarIndInfo ------> " + info.toString());
}
@Override
public void onCvxHvInfoIndInfo(CvxHvInfoIndInfo info) {
//主车信息
}
@Override
public void onCvxRvInfoIndInfo(CvxRvInfoIndInfo info) {
//远车信息,
Logger.d(TAG_MOGO_OBU, "onCvxRvInfoIndInfo ------> " + info.toString());
}
//TODO 他车是否一直出现
@Override
public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) {
//预警信息,预警类型 threat_level 3
if (info != null) {
Logger.e(TAG_MOGO_OBU, "onCvxV2vThreatIndInfo ------> " + info.toString());
if (info.getThreat_info() != null) {
if (info.getThreat_info().getThreat_level() == 2 ||
info.getThreat_info().getThreat_level() == 3) {
//预警方位
int direction = info.getExt_info().getTarget_classification();
//显示警告弹框 TODO
// MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(getMessage(direction), MogoReceiver.ACTION_V2X_FRONT_WARNING);
//处理预警类型
int appId = info.getThreat_info().getApp_id();
Logger.d(TAG_MOGO_OBU, "direction = " + direction + "----" + getMessage(direction) + "--appId = " + appId);
handleSdkObu(getEventType(appId));
}
//预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 暂时不做
// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info));
} else {
Logger.e(TAG_MOGO_OBU, "info == null ");
}
}
}
};
private int getMessage(int targetClassification) {
switch (targetClassification) {
case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_IN_LANE:
case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_LEFT:
case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_RIGHT:
case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_LEFT:
case ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_RIGHT:
return 1;
case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_IN_LANE:
case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_LEFT:
case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_RIGHT:
case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_LEFT:
case ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_RIGHT:
return 2;
case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_IN_LANE:
case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_LEFT:
case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_LEFT:
case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_LEFT:
return 3;
case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_RIGHT:
case ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_RIGHT:
case ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_RIGHT:
return 4;
default:
case ObuConstants.TARGET_CLASSIFICATION.TC_UNCLASSIFIED:
return 1;
}
}
private int getEventType(int appid) {
if (appid == ObuConstants.USE_CASE_ID.EBW) { //紧急制动
return MogoObuConst.TYPE_URGENCY_COLLISION_WARNING;
} else if (appid == ObuConstants.USE_CASE_ID.ICW) { //交叉路口碰撞预警
return MogoObuConst.TYPE_CROSS_COLLISION_WARNING;
} else if (appid == ObuConstants.USE_CASE_ID.LTA) {//左转辅助
return MogoObuConst.TYPE_TURN_LEFT_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.BSW) { //盲区预警
return MogoObuConst.TYPE_BLIND_ASSIST_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.LCW) { //变道预警
return MogoObuConst.TYPE_CHANGE_LANES_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.DNPW) { //逆向超车预警
return MogoObuConst.TYPE_REVERSE_OVERTAKING_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.FCW) { //前向碰撞预警
return MogoObuConst.TYPE_FRONT_COLLISION_WARNING;
} else if (appid == ObuConstants.USE_CASE_ID.AVW) { //异常车辆预警
return MogoObuConst.TYPE_UNUSUAL_CAR_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.CLW) { //车辆失控预警
return MogoObuConst.TYPE_CAR_OUT_OF_CONTROL_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.SLW) { //限速预警
return MogoObuConst.TYPE_LIMIT_SPEED_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.LTA) { //闯红灯预警 ---
return MogoObuConst.TYPE_RUSH_RED_LIGHT;
} else if (appid == ObuConstants.USE_CASE_ID.VRUCW) { //行人碰撞预警 ---
return MogoObuConst.TYPE_ROAD_USER_COLLISION_WARNING;
} else if (appid == ObuConstants.USE_CASE_ID.LTA) { //绿波车速引导 ---
return MogoObuConst.TYPE_OPTIMAL_SPEED_ADVISORY;
} else if (appid == ObuConstants.USE_CASE_ID.HLW) { //道路危险情况预警
return MogoObuConst.TYPE_UNUSUAL_ROAD_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.IVS) { //交通标牌提示
return MogoObuConst.TYPE_TRAFFIC_SIGN_INFO;
} else if (appid == ObuConstants.USE_CASE_ID.TJW) { //前方拥堵提醒
return MogoObuConst.TYPE_BLOCK_WARN;
} else if (appid == ObuConstants.USE_CASE_ID.EVW) { //紧急车辆提示预警
return MogoObuConst.TYPE_PRESSING_CAR_WARN;
}
return 0;
}
private List<ADASRecognizedResult> getResultList(CvxV2vThreatIndInfo info) {
if (resultList == null) {
resultList = new ArrayList<>();
}
ADASRecognizedResult adasRecognizedResult = new ADASRecognizedResult();
adasRecognizedResult.uuid = info.getVehicle_id();
if (info.getBasic_info() != null && info.getBasic_info().getPosition() != null) {
adasRecognizedResult.lat = info.getBasic_info().getPosition().getLatitude();
adasRecognizedResult.lon = info.getBasic_info().getPosition().getLongitude();
}
adasRecognizedResult.type = 3; //小轿车
adasRecognizedResult.heading = info.getBasic_info().getHeading();
adasRecognizedResult.speed = info.getBasic_info().getSpeed();
resultList.add(adasRecognizedResult);
return resultList;
}
public void release() {
MogoObuManager.getInstance().unregisterListener();
}
/**
* 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
*
* @param type TODO
*/
private void handleSdkObu(int type) {
V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
V2XObuEventEntity urgencyEvent = new V2XObuEventEntity();
if (type == MogoObuConst.TYPE_CROSS_COLLISION_WARNING) { //交叉路口碰撞预警
urgencyEvent.setType(MogoObuConst.TYPE_CROSS_COLLISION_WARNING);
// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_CROING_WARN_TEXT);
} else if (type == MogoObuConst.TYPE_URGENCY_COLLISION_WARNING) { // 前车紧急制动预警
urgencyEvent.setType(MogoObuConst.TYPE_URGENCY_COLLISION_WARNING);
// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
} else { //TODO
// urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
// urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
}
// messageEntity.setContent(urgencyEvent);
// V2XObuEventScenario.getInstance().init(messageEntity);
//
}
}

242
modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt Normal file
View File

@@ -0,0 +1,242 @@
package com.mogo.module.obu.mogo
import android.content.Context
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.service.IMogoServiceApis
import com.mogo.service.MogoServicePaths
import com.mogo.service.adas.entity.ADASRecognizedResult
import com.mogo.service.warning.IMoGoWaringProvider
import com.mogo.utils.logger.Logger
import com.zhidao.support.obu.MogoObuManager
import com.zhidao.support.obu.OnMogoObuListener
import com.zhidao.support.obu.constants.ObuConstants
import com.zhidao.support.obu.model.*
import java.util.*
/**
* @description
*
* @author lixiaopeng
* @since 2021/8/8
*/
class MogoPrivateObuManager private constructor() {
companion object {
val INSTANCE : MogoPrivateObuManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
MogoPrivateObuManager()
}
}
private var resultList: MutableList<ADASRecognizedResult>? = null
private var mMogoServiceApis: IMogoServiceApis? = null
private var mIMoGoWaringProvider: IMoGoWaringProvider? = null
val icw_data = "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"
fun init(context: Context?) {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "obuManager初始化--")
mMogoServiceApis = ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS)
.navigation(context) as IMogoServiceApis
// 获取预警模块的接口
mIMoGoWaringProvider = mMogoServiceApis!!.waringProviderApi
//自研obu
MogoObuManager.getInstance().init(context)
MogoObuManager.getInstance().connect("192.168.1.199")
MogoObuManager.getInstance().registerListener(mogoObuListener)
//TODO 测试
// UiThreadHandler.postDelayed({
//// MogoObuManager.getInstance().test(icw_data)
// handleSdkObu(107)
// }, 5000L)
}
private val mogoObuListener: OnMogoObuListener = object : OnMogoObuListener() {
override fun onConnected() {
//OBU连接成功
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onConnected ------> ")
}
override fun onConnectFail(isNeedReconnect: Boolean) {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onConnectFail ------> ")
//OBU连接失败
}
override fun onDisconnect() {
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onDisconnect ------> ")
//OBU断开连接
}
override fun onReceiveOriginData(data: String) {
super.onReceiveOriginData(data)
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onReceiveOriginData ------> data = $data")
//接收到的原始数据
}
override fun onSendData(bytes: ByteArray) {
super.onSendData(bytes)
//发送的数据
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onSendData ------> ")
}
override fun onCvxAppInitIndInfo(info: CvxAppInitIndInfo) {
super.onCvxAppInitIndInfo(info)
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxAppInitIndInfo ------> $info")
//CV2X系统信息
}
override fun onCvxSetConfigCfm(info: CvxSetConfigCfmInfo) {
super.onCvxSetConfigCfm(info)
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxSetConfigCfm ------> $info")
//设置CV2X系统的配置确认
}
override fun onCvxHvCarIndInfo(info: CvxHvCarIndInfo) {
//主车车辆信息
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxHvCarIndInfo ------> $info")
}
override fun onCvxHvInfoIndInfo(info: CvxHvInfoIndInfo) {
//主车信息
}
override fun onCvxRvInfoIndInfo(info: CvxRvInfoIndInfo) {
//远车信息,
Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxRvInfoIndInfo ------> $info")
}
//TODO 他车是否一直出现
override fun onCvxV2vThreatIndInfo(info: CvxV2vThreatIndInfo) {
//预警信息,预警类型 threat_level 3
if (info != null) {
Logger.e(MogoObuConst.TAG_MOGO_OBU, "onCvxV2vThreatIndInfo ------> $info")
if (info.threat_info != null) {
if (info.threat_info.threat_level == 2 ||
info.threat_info.threat_level == 3) {
//预警方位
val direction = info.ext_info.target_classification
//显示警告弹框 TODO
// MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(getMessage(direction), MogoReceiver.ACTION_V2X_FRONT_WARNING);
//处理预警类型
val appId = info.threat_info.app_id
Logger.d(MogoObuConst.TAG_MOGO_OBU, "direction = " + direction + "----" + getMessage(direction) + "--appId = " + appId)
handleSdkObu(getEventType(appId))
}
//预警数据的组装，车辆实时移动和变色 TODO 这里需要obu提供他车列表 暂时不做
// AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(getResultList(info));
} else {
Logger.e(MogoObuConst.TAG_MOGO_OBU, "info == null ")
}
}
}
}
private fun getMessage(targetClassification: Int): Int {
return when (targetClassification) {
ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_IN_LANE, ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_LEFT, ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_RIGHT, ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_LEFT, ObuConstants.TARGET_CLASSIFICATION.TC_AHEAD_FAR_RIGHT -> 1
ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_IN_LANE, ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_LEFT, ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_RIGHT, ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_LEFT, ObuConstants.TARGET_CLASSIFICATION.TC_BEHIND_FAR_RIGHT -> 2
ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_IN_LANE, ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_LEFT, ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_LEFT, ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_LEFT -> 3
ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_RIGHT, ObuConstants.TARGET_CLASSIFICATION.TC_ONCOMING_FAR_RIGHT, ObuConstants.TARGET_CLASSIFICATION.TC_INTERSECTION_RIGHT -> 4
ObuConstants.TARGET_CLASSIFICATION.TC_UNCLASSIFIED -> 1
else -> 1
}
}
private fun getEventType(appid: Int): Int {
if (appid == ObuConstants.USE_CASE_ID.EBW) { //紧急制动
return MogoObuConst.TYPE_URGENCY_COLLISION_WARNING
} else if (appid == ObuConstants.USE_CASE_ID.ICW) { //交叉路口碰撞预警
return MogoObuConst.TYPE_CROSS_COLLISION_WARNING
} else if (appid == ObuConstants.USE_CASE_ID.LTA) { //左转辅助
return MogoObuConst.TYPE_TURN_LEFT_WARN
} else if (appid == ObuConstants.USE_CASE_ID.BSW) { //盲区预警
return MogoObuConst.TYPE_BLIND_ASSIST_WARN
} else if (appid == ObuConstants.USE_CASE_ID.LCW) { //变道预警
return MogoObuConst.TYPE_CHANGE_LANES_WARN
} else if (appid == ObuConstants.USE_CASE_ID.DNPW) { //逆向超车预警
return MogoObuConst.TYPE_REVERSE_OVERTAKING_WARN
} else if (appid == ObuConstants.USE_CASE_ID.FCW) { //前向碰撞预警
return MogoObuConst.TYPE_FRONT_COLLISION_WARNING
} else if (appid == ObuConstants.USE_CASE_ID.AVW) { //异常车辆预警
return MogoObuConst.TYPE_UNUSUAL_CAR_WARN
} else if (appid == ObuConstants.USE_CASE_ID.CLW) { //车辆失控预警
return MogoObuConst.TYPE_CAR_OUT_OF_CONTROL_WARN
} else if (appid == ObuConstants.USE_CASE_ID.SLW) { //限速预警
return MogoObuConst.TYPE_LIMIT_SPEED_WARN
} else if (appid == ObuConstants.USE_CASE_ID.LTA) { //闯红灯预警 ---
return MogoObuConst.TYPE_RUSH_RED_LIGHT
} else if (appid == ObuConstants.USE_CASE_ID.VRUCW) { //行人碰撞预警 ---
return MogoObuConst.TYPE_ROAD_USER_COLLISION_WARNING
} else if (appid == ObuConstants.USE_CASE_ID.LTA) { //绿波车速引导 ---
return MogoObuConst.TYPE_OPTIMAL_SPEED_ADVISORY
} else if (appid == ObuConstants.USE_CASE_ID.HLW) { //道路危险情况预警
return MogoObuConst.TYPE_UNUSUAL_ROAD_WARN
} else if (appid == ObuConstants.USE_CASE_ID.IVS) { //交通标牌提示
return MogoObuConst.TYPE_TRAFFIC_SIGN_INFO
} else if (appid == ObuConstants.USE_CASE_ID.TJW) { //前方拥堵提醒
return MogoObuConst.TYPE_BLOCK_WARN
} else if (appid == ObuConstants.USE_CASE_ID.EVW) { //紧急车辆提示预警
return MogoObuConst.TYPE_PRESSING_CAR_WARN
}
return 0
}
private fun getResultList(info: CvxV2vThreatIndInfo): List<ADASRecognizedResult?>? {
if (resultList == null) {
resultList = ArrayList<ADASRecognizedResult>()
}
val adasRecognizedResult = ADASRecognizedResult()
adasRecognizedResult.uuid = info.vehicle_id
if (info.basic_info != null && info.basic_info.position != null) {
adasRecognizedResult.lat = info.basic_info.position.latitude
adasRecognizedResult.lon = info.basic_info.position.longitude
}
adasRecognizedResult.type = 3 //小轿车
adasRecognizedResult.heading = info.basic_info.heading
adasRecognizedResult.speed = info.basic_info.speed
resultList!!.add(adasRecognizedResult)
return resultList
}
fun release() {
MogoObuManager.getInstance().unregisterListener()
}
/**
* 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
*
* @param type TODO
*/
private fun handleSdkObu(type: Int) {
var alertContent: String = ""
var ttsContent: String = ""
if (type == MogoObuConst.TYPE_CROSS_COLLISION_WARNING) { //交叉路口碰撞预警
alertContent = MogoObuConst.TYPE_CROSS_COLLISION_WARNING_TEXT
ttsContent = MogoObuConst.TYPE_CROSS_COLLISION_WARNING_VOICE_TEXT
} else if (type == MogoObuConst.TYPE_URGENCY_COLLISION_WARNING) { // 前车紧急制动预警
alertContent = MogoObuConst.TYPE_URGENCY_COLLISION_WARNING_TEXT
ttsContent = MogoObuConst.TYPE_URGENCY_COLLISION_WARNING_VOICE_TEXT
}
//显示弹框
mIMoGoWaringProvider!!.showWarningV2X(
type,
alertContent,
ttsContent,
type.toString()
)
}
}