Merge branch 'refs/heads/dev_robobus-d_241226_6.8.6' into dev_robotaxi-d_241210_6.9.0

# Conflicts: # OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt # gradle.properties
2025-01-03 18:19:58 +08:00
parent e69ef251ca 7c33b4982b
commit 909809fead
22 changed files with 1388 additions and 52 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
@@ -29,18 +29,13 @@ class DataCenterProvider : IDataCenterProvider {
            CallerMsgBoxManager.queryAllMessages(it)
            TrafficLightDispatcher.INSTANCE.initServer(it)
            SpeedLimitDispatcher.INSTANCE.initLimit(it)
-            if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-                IotManager.init()
-            }
-
+            IotManager.init(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode))
        }
    }

    override fun onDestroy() {
        TrafficLightDispatcher.INSTANCE.destroy()
        SpeedLimitDispatcher.INSTANCE.destroy()
-        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            IotManager.destroy()
-        }
+        IotManager.destroy()
    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -31,7 +31,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListene
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerIpcConnectStateToastManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
@@ -55,6 +54,7 @@ import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.support.device.led.LedSourceManager
 import com.mogo.telematic.MogoProtocolMsg
 import com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA
 import com.mogo.telematic.MogoProtocolMsg.SYNC_FUSION_COLOR_STATUS
@@ -1038,6 +1038,13 @@ class MoGoAutopilotControlProvider :
     */
    override fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean) {
        AdasManager.getInstance().sendTripInfoReq(type, lineName, departureStopName,arrivalStopName, isLastStop)
+        LedSourceManager.updateTripInfoData(
+            type,
+            lineName,
+            departureStopName,
+            arrivalStopName,
+            isLastStop
+        )
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -93,16 +93,17 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_D_C
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
+import com.mogo.support.device.led.LedSourceManager
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.chain.AdasChain
-import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.AdasConstants.NodeExistState
 import com.zhjt.mogo.adas.data.AiCloudTask
+import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.NodeStateInfo
@@ -135,6 +136,7 @@ import prediction.Prediction
 import record_cache.RecordPanelOuterClass
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
+import kotlin.math.roundToInt

 /**
 * 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理
@@ -178,6 +180,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
    )
    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
+        LedSourceManager.updateAccelerationData(gnssInfo.acceleration)
        if (gnssInfo != null) {
            // 同步更新经纬度和系统时间至 AutoPilotStatusListener
            CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
@@ -280,6 +283,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
    override fun onLightSwitch(light: Chassis.LightSwitch) {
        //转向灯数据
        CallerChassisStatesListenerManager.invokeAutopilotLightSwitchData(light)
+        var type = 0
+        if (Chassis.LightSwitch.LIGHT_LEFT == light) {
+            type = 1
+        } else if (Chassis.LightSwitch.LIGHT_RIGHT == light) {
+            type = 2
+        } else if (Chassis.LightSwitch.LIGHT_FLASH == light) {
+            type = 3
+        }
+        LedSourceManager.updateTurnSignalData(type)
    }

    //自动驾驶状态
@@ -322,6 +334,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
        header: MessagePad.Header?,
        trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?
    ) {
+        //此分发新开线程，在invokeAutopilotPerceptionTrafficLight 前分发避免 invokeAutopilotPerceptionTrafficLight中存在耗时操作影响LED数据更新
+        transitionTurnToLedData(trafficLights)
        if (trafficLights != null) {
            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
                trafficLights
@@ -329,6 +343,92 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

+    /**
+     * LED屏幕数据转换
+     * 只能放在这 LedSourceManager LIB中并未依赖ADAS数据源
+     */
+    private fun transitionTurnToLedData(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) {
+        var stateTurnRound = -1
+        var durationTurnRound = -1
+        var stateTurnLeft = -1
+        var durationTurnLeft = -1
+        var stateStraight = -1
+        var durationStraight = -1
+        var stateTurnRight = -1
+        var durationTurnRight = -1
+        if (trafficLights != null) {
+            if (trafficLights.uTurn != null) {
+                val uTurn = trafficLights.uTurn
+                stateTurnRound = transitionTurnType(uTurn.state)
+                if (uTurn.duration > 0) {
+                    durationTurnRound = uTurn.duration.roundToInt()
+                }
+            }
+            if (trafficLights.left != null) {
+                val left = trafficLights.left
+                stateTurnLeft = transitionTurnType(left.state)
+                if (left.duration > 0) {
+                    durationTurnLeft = left.duration.roundToInt()
+                }
+            }
+            if (trafficLights.straight != null) {
+                val straight = trafficLights.straight
+                stateStraight = transitionTurnType(straight.state)
+                if (straight.duration > 0) {
+                    durationStraight = straight.duration.roundToInt()
+                }
+            }
+            if (trafficLights.right != null) {
+                val right = trafficLights.right
+                stateTurnRight = transitionTurnType(right.state)
+                if (right.duration > 0) {
+                    durationTurnRight = right.duration.roundToInt()
+                }
+            }
+            //来源是自车没有倒计时 不管域控发的倒计时是什么值
+            if (trafficLights.source == 0) {
+                durationTurnRound = -1
+                durationTurnLeft = -1
+                durationStraight = -1
+                durationTurnRight = -1
+            }
+        }
+        LedSourceManager.updateTrafficLightData(
+            stateTurnRound,
+            durationTurnRound,
+            stateTurnLeft,
+            durationTurnLeft,
+            stateStraight,
+            durationStraight,
+            stateTurnRight,
+            durationTurnRight
+        )
+    }
+
+    private fun transitionTurnType(state: FusionTrafficLightOuterClass.FusionLightState?): Int {
+        var type = -1
+        state?.let {
+            type = when (it) {
+                FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION -> {
+                    2
+                }
+
+                FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION -> {
+                    3
+                }
+
+                FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION -> {
+                    4
+                }
+
+                else -> {
+                    -1
+                }
+            }
+        }
+        return type
+    }
+
    //他车轨迹预测
    override fun onPredictionObstacleTrajectory(
        header: MessagePad.Header?,
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/iot/IotManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/iot/IotManager.kt
@@ -10,6 +10,7 @@ import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
 import com.mogo.support.device.DevicesManager
 import com.mogo.support.device.IWriteChainLogListener
+import com.mogo.support.device.led.LedSourceManager
 import com.zhjt.service.chain.ChainLog
 import java.text.SimpleDateFormat
 import java.util.Date
@@ -19,11 +20,18 @@ object IotManager : IMoGoCloudListener, IWriteChainLogListener {
    private val sdf: SimpleDateFormat = SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.CHINA)
    private val TAG = IotManager::class.java.simpleName
    private const val EVENT_KEY_HARDWARE_DEVICES = "event_key_hardware_devices"
+    private var isPassenger: Boolean = false

-    fun init() {
-        CallerCloudListenerManager.addListener(TAG, this)
-        hardwareDeviceBind(SharedPrefsMgr.getInstance().sn)
-        DevicesManager.registerWriteChainLogListener(this)
+    fun init(isPassenger: Boolean) {
+        this.isPassenger = isPassenger
+        if (isPassenger) {
+            CallerCloudListenerManager.addListener(TAG, this)
+            DevicesManager.registerWriteChainLogListener(this)
+            hardwareDeviceBind(SharedPrefsMgr.getInstance().sn)
+        } else {
+            LedSourceManager.registerWriteChainLogListener(this)
+            LedSourceManager.init(true)
+        }
    }

    override fun tokenGot(token: String, sn: String) {
@@ -42,21 +50,27 @@ object IotManager : IMoGoCloudListener, IWriteChainLogListener {
    }

    fun destroy() {
-        DevicesManager.destroy()
-        DevicesManager.unregisterWriteChainLogListener()
+        if (isPassenger) {
+            DevicesManager.unregisterWriteChainLogListener()
+            DevicesManager.destroy()
+        } else {
+            LedSourceManager.unregisterWriteChainLogListener()
+            LedSourceManager.destroy()
+        }
    }

    @ChainLog(
        linkChainLog = ChainConstant.CHAIN_TYPE_STATUS,
        linkCode = ChainConstant.CHAIN_SOURCE_INIT,
        nodeAliasCode = ChainConstant.CHAIN_CODE_HARDWARE_DEVICES,
-        paramIndexes = [0, 1]
+        paramIndexes = [0, 1, 2]
    )
-    override fun onWriteChainLog(title: String, info: String) {
+    override fun onWriteChainLog(tag: String, title: String, info: String) {
        try {
-            i("${TAG}_${EVENT_KEY_HARDWARE_DEVICES}", "${title}_${info}")
+            i("${tag}_${EVENT_KEY_HARDWARE_DEVICES}", "${title}_${info}")
            val params = HashMap<String, Any>()
            params["time"] = sdf.format(Date())
+            params["tag"] = tag
            params["title"] = title
            params["info"] = info
            MogoAnalyticUtils.track(EVENT_KEY_HARDWARE_DEVICES, params)
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -5,6 +5,7 @@ import android.os.CountDownTimer
 import android.os.Handler
 import android.util.Log
 import com.mogo.commons.voice.AIAssist
+import com.mogo.commons.voice.AIAssist.NEW_LEVEL_2
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightStatus
 import com.mogo.eagle.core.data.biz.trafficlight.currentRoadTrafficLight
@@ -232,7 +233,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                                    if((light.state == FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION || light.state ==FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION)
                                        && light.duration < 5 && light.nextState == FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION){
                                        //语音播放:红灯即将变绿
-                                        AIAssist.getInstance(mContext).speakTTSVoice("红灯即将变绿")
+                                        AIAssist.getInstance(mContext).speakTTSVoiceWithLevel("红灯即将变绿", NEW_LEVEL_2)
                                        isTurnGreen = true
                                    }
                                }