[2.15.0] V2N事件上车远端事件处理

2023-03-28 20:09:34 +08:00
parent 85a1866f2c
commit 95645bf397
5 changed files with 171 additions and 15 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
@@ -20,6 +20,7 @@ import com.mogo.eagle.function.biz.v2x.road.LineUploadManager
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.function.biz.v2x.v2n.V2XEventManager
 import com.mogo.eagle.function.biz.v2x.v2n.V2XPoiLoader.Companion.v2xPoiLoader
+import com.mogo.eagle.function.biz.v2x.v2n.pnc.*
 import com.mogo.eagle.function.biz.v2x.vip.VipCarManager

@Route(path = MogoServicePaths.PATH_FUNC_BIZ)
@@ -46,6 +47,8 @@ class FuncBizProvider : IMoGoFuncBizProvider {
            LineUploadManager.getInstance(context)?.init()
        }
        V2xObuEventManager.init(context)
+
+        V2NIdentifyDrawer.init()
 //        RedLightWarningManager.INSTANCE.listenTrafficLight()
    }

@@ -113,6 +116,7 @@ class FuncBizProvider : IMoGoFuncBizProvider {
            }
        }
        V2xObuEventManager.release()
+        V2NIdentifyDrawer.unInit()
 //        RedLightWarningManager.INSTANCE.onDestroy()
    }
 }
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
@@ -61,6 +61,7 @@ import kotlinx.coroutines.cancel
 import kotlinx.coroutines.launch
 import java.util.concurrent.atomic.AtomicBoolean
 import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.PlanningObject

 object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
    IMoGoAutopilotIdentifyListener, IMoGoCloudListener {
@@ -178,15 +179,13 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
        paramIndexes = [0],
        clientPkFileName = "sn"
    )
-    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<PlanningObject>?) {
        super.onAutopilotIdentifyPlanningObj(planningObjects)
        planningObjects?.let {
            if (it.isNotEmpty()) {
-                val first = it.stream()
-                    .filter { planningObj: MessagePad.PlanningObject -> planningObj.type >= 1000 }
-                    .findFirst()
-                if (first.isPresent) {
-                    val poiType = when (first.get().type) {
+                val first = it.firstOrNull { planningObj: PlanningObject -> planningObj.type >= 1000 }
+                if (first != null) {
+                    val poiType = when (first.type) {
 //                        1004 -> { //V2N_RSM,静止事件，包括异常停车、异常静止障碍物
 //                        }
                        1005 -> { //V2N_RSI,施工事件，包括锥桶或者挡板围城的施工场景，是个多边形包围区域
@@ -199,11 +198,11 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                            return
                        }
                    }
-                    CallerLogger.d("$M_V2X$TAG", "poiType : $poiType , 触发道路事件")
+                    Logger.d("$M_V2X$TAG", "poiType : $poiType , 触发道路事件")
                    val trackedObj =
-                        CallerMapIdentifyManager.getIdentifyObj(first.get().uuid.toString())
+                        CallerMapIdentifyManager.getIdentifyObj(first.uuid.toString())
                    trackedObj?.let { t ->
-                        CallerLogger.d("$M_V2X$TAG", "polygon size : ${(t.polygonList.size)}")
+                        Logger.d("$M_V2X$TAG", "polygon size : ${(t.polygonList.size)}")
                        val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
                        v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
                        v2XMessageEntity.content = t.toRoadMarker(poiType).toV2XRoadEventEntity()
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -0,0 +1,155 @@
+package com.mogo.eagle.function.biz.v2x.v2n.pnc
+
+import android.os.*
+import androidx.core.util.*
+import com.mogo.eagle.core.data.enums.*
+import com.mogo.eagle.core.data.enums.WarningDirectionEnum.ALERT_WARNING_TOP
+import com.mogo.eagle.core.data.map.entity.*
+import com.mogo.eagle.core.data.msgbox.*
+import com.mogo.eagle.core.data.msgbox.MsgBoxType.V2X
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.hmi.warning.*
+import com.mogo.eagle.core.function.api.map.angle.*
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.hmi.*
+import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.function.call.msgbox.*
+import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
+import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.*
+import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker.Marker
+import mogo.telematics.pad.MessagePad.TrackedObject
+
+/**
+ * V2N上车相关事件绘制
+ */
+internal object V2NIdentifyDrawer {
+
+
+    private const val TAG = "V2NIdentifyDataSubscriber"
+
+    private const val MSG_WHAT_DRAW_ALL = 0x1010
+
+    private val callback = Handler.Callback { msg ->
+        if (msg.what == MSG_WHAT_DRAW_ALL) {
+            val events = msg.obj as? List<*>
+            if (events == null || events.isEmpty()) {
+                return@Callback true
+            }
+            val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+            val filtered = events.filterIsInstance(TrackedObject::class.java).filter { itx ->
+                val diff = DrivingDirectionUtils.getAngleDiff(car.heading, itx.heading)
+                diff < 40 && DrivingDirectionUtils.getDegreeOfCar2Poi(car.longitude, car.latitude, itx.longitude, itx.latitude, car.heading.toInt()) <= 90
+            }
+            if (filtered.isEmpty()) {
+                return@Callback true
+            }
+            filtered.forEach { itx ->
+                AiRoadMarker.aiMakers.getOrPut(itx.uuid.toString()) {
+                    AiRoadMarker().apply {
+                        val poiType = getPoiType(itx.type).poiType
+                        val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
+                        marker(Marker(itx.strUuid, poiType, itx.longitude, itx.latitude, itx.heading, polygon, null,
+                            V2XRoadEventEntity().also { e ->
+                                e.poiType = poiType
+                            e.location = MarkerLocation().also { l ->
+                                val p = CoordinateTransform.WGS84ToGCJ02(itx.longitude, itx.latitude)
+                                l.lon = p[0]
+                                l.lat = p[1]
+                                l.angle = itx.heading
+                            }
+                            e.noveltyInfo = MarkerExploreWay().also {
+                                it.poiType = poiType
+                                it.location = e.location
+                                it.polygon = polygon
+                            }
+                        }), true, isDrawRoadLine(poiType))
+
+                        val distance = CoordinateUtils.calculateLineDistance(itx.longitude, itx.latitude, car.longitude, car.latitude)
+                        val alertContent = getAlertContent(poiType, distance.toDouble())
+                        val ttsContent = getTtsContent(poiType, distance.toDouble())
+                        saveMsgBox(MsgBoxBean(V2X, V2XMsg(poiType, alertContent, ttsContent)))
+                        CallerHmiManager.warningV2X(poiType, alertContent, ttsContent, object : IMoGoWarningStatusListener {
+                            override fun onShow() {
+                                super.onShow()
+                                CallerVisualAngleManager.changeAngle(RoadEvent)
+                            }
+
+                            override fun onDismiss() {
+                                super.onDismiss()
+                                CallerVisualAngleManager.changeAngle(Default())
+                            }
+                        }, ALERT_WARNING_TOP, 10000)
+                    }
+                }.receive()
+            }
+        }
+        true
+    }
+
+    private fun getTtsContent(poiType: String, distance: Double): String {
+        return when (poiType) {
+            EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType -> {
+                "前方${distance.toInt()}米道路施工"
+            }
+            EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.poiType -> {
+                "前方${distance.toInt()}米交通事故"
+            }
+            else -> {
+                throw AssertionError("error!!!")
+            }
+        }
+    }
+
+    private fun getAlertContent(poiType: String, distance: Double): String {
+        return when(poiType) {
+            EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType -> {
+                "前方${distance.toInt()}米道路施工"
+            }
+            EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.poiType -> {
+                "前方${distance.toInt()}米交通事故"
+            }
+            else -> {
+                throw AssertionError("error!!!")
+            }
+        }
+    }
+
+    private fun isDrawRoadLine(poiType: String): Boolean {
+        return EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType == poiType
+    }
+
+    private fun getPoiType(type: Int): EventTypeEnumNew = if (type == 501 || type == 502) EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG else if (type == 13) EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU else throw AssertionError("error!!!")
+
+    private val handler by lazy {
+        val thread = HandlerThread("v2n_identify_drawer")
+        thread.start()
+        Handler(thread.looper, callback)
+    }
+
+    private val listener = object : IMoGoAutopilotIdentifyListener {
+
+        override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
+            super.onAutopilotIdentifyDataUpdate(trafficData)
+            val events = trafficData?.filter { it.type == 501 || it.type == 502 || it.type == 13 }
+            Logger.d(TAG, "--- onAutopilotIdentifyDataUpdate -- : trafficData: ${ trafficData?.joinToString(",") }")
+            if (events != null && events.isNotEmpty()) {
+                draw(events)
+            }
+        }
+    }
+
+    private fun draw(events: List<TrackedObject>) {
+        handler.removeMessages(MSG_WHAT_DRAW_ALL)
+        handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_ALL, events))
+    }
+
+    fun init() {
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, listener)
+    }
+
+    fun unInit() {
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+    }
+}
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -73,7 +73,7 @@ class AiRoadMarker {
    }

    fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
-        val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() ?: return
+        val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        this.marker.set(marker)
        val wrapper = MarkerWrapper(marker.id, marker.poi_lon, marker.poi_lat, 1, null, null)
        if (drawMarker) {
@@ -174,7 +174,7 @@ class AiRoadMarker {
        Logger.d(TAG, "receive --- 1 ---")
        val poi = this.marker.get()
        val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        if (poi != null && car != null) {
+        if (poi != null) {
            val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
            Logger.d(TAG, "receive --- 2 ---:car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance")
            if (distance < 500) {
@@ -183,9 +183,7 @@ class AiRoadMarker {
                handler.removeCallbacks(checkExpiredTask)
            }
        } else {
-            if (poi != null) {
-                checkExpired()
-            }
+            checkExpired()
        }
    }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt
@@ -33,7 +33,7 @@ class V2XAiRoadEventMarker {
            val points = ArrayList<MogoLatLng>()

            for (p in polygon) {
-                points.add(MogoLatLng(p.first, p.second))
+                points.add(MogoLatLng(p.second, p.first))
            }
            if (points.size > 2) {
                points.add(points[0])