[8.1.2][fix]解决路口场景决策显示有误的问题

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.os.Handler
 import android.os.Message
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
@@ -9,6 +10,7 @@ import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
+import com.mogo.map.MogoMap
 import com.zhjt.service.chain.ChainLog
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -55,6 +57,8 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
     // 维护一个线程定时轮询数据进行地图绘制
     private val mDrawerHandler: Handler =
         object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) {
+            private var isPredicted = false
+
             override fun handleMessage(msg: Message) {
                 super.handleMessage(msg)
                 when (msg.what) {
@@ -74,7 +78,14 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
 
                     MSG_DATA_TRACK -> {
                         if (msg.obj is List<*>) {
-                            identify.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
+                            val objectList = msg.obj as List<TrackedObject>?
+                            val mapInstanceList = ArrayList<String>()
+                            mapInstanceList.add(MogoMap.DEFAULT)
+                            if (FunctionBuildConfig.isDrawPreIdentifyData) {
+                                isPredicted = true
+                                mapInstanceList.add(MogoMap.SMALL_PRED_MAP)
+                            }
+                            identify.renderAdasRegResults(objectList, mapInstanceList)
                             startTime = System.nanoTime()
                         }
                     }
@@ -107,7 +118,14 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
                     }
 
                     MSG_DATA_CLEAR -> {
-                        identify.clearOldMarker()
+                        if (isPredicted) {
+                            val mapInstanceList = ArrayList<String>()
+                            mapInstanceList.add(MogoMap.DEFAULT)
+                            mapInstanceList.add(MogoMap.SMALL_PRED_MAP)
+                            identify.clearOldMarkers(mapInstanceList)
+                        } else {
+                            identify.clearOldMarker()
+                        }
                     }
 
                     MSG_DATA_AI_CLEAR -> {

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt

@@ -5,6 +5,7 @@ import android.content.Context
 import android.os.Bundle
 import android.os.SystemClock
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.Chassis
@@ -24,6 +25,7 @@ import com.shuyu.gsyvideoplayer.model.VideoOptionModel
 import com.shuyu.gsyvideoplayer.player.IjkPlayerManager
 import com.shuyu.gsyvideoplayer.player.PlayerFactory
 import com.shuyu.gsyvideoplayer.utils.GSYVideoType
+import com.zhidaoauto.map.data.road.RoadCross
 import com.zhidaoauto.map.data.road.StopLine
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre1
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre2
@@ -120,9 +122,15 @@ class DecisionLayout @JvmOverloads constructor(
     fun onDestroy() {
     }
 
+    @Volatile
+    private var isCrossScene = false
     private var state = -1
     private var action = -1
     override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
+        if (isCrossScene) {
+            Log.d(TAG, "路口场景不直接使用决策信息!")
+            return
+        }
         val actionMsg = planningActionMsg.actionMsg
         val s = actionMsg.drivingState.number
         val a = actionMsg.drivingAction.number
@@ -181,9 +189,11 @@ class DecisionLayout @JvmOverloads constructor(
         }
     }
 
+    @Volatile
     private var lastUpdateTime = 0L
     override fun onStopLineInfo(info: StopLine) {
-        if (info.distance < 15) {
+        if (info.distance < 15 && !isInCrossRoad) {// 不在路口内且距离停止线小于15m
+            isCrossScene = true
             val time = System.currentTimeMillis()
             if (time - lastUpdateTime > 500) {
                 lastUpdateTime = time
@@ -204,6 +214,23 @@ class DecisionLayout @JvmOverloads constructor(
         }
     }
 
+    @Volatile
+    private var isInCrossRoad = false
+
+    override fun onRoadChange(cross: Boolean, roadCross: RoadCross?) {
+        if (isInCrossRoad && !cross) {// 上次在路口内，当前不在路口内，则代表出路口了
+            isCrossScene = false
+            val time = System.currentTimeMillis()
+            if (time - lastUpdateTime > 500) {
+                lastUpdateTime = time
+                ThreadUtils.runOnUiThread {
+                    updateAnim(2)// 出路口默认显示"车道保持"
+                }
+            }
+        }
+        isInCrossRoad = cross
+    }
+
     @SuppressLint("SetTextI18n")
     private fun updateAnim(type: Int) {
         val randomNum = 80 + Random(SystemClock.elapsedRealtime()).nextInt(16)