[8.1.0]

[fea] [Vlm 接入]
2025-06-20 11:24:27 +08:00
parent 05582f4415
commit 981d2e7f24
29 changed files with 514 additions and 179 deletions
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt
@@ -10,10 +10,14 @@ import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.och.bridge.autopilot.location.OchLocationManager
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.bridge.bridge.OchBridgeManager
+import com.mogo.och.bridge.bridge.OchVlmManager
 import com.mogo.och.bridge.trajectory.TrajectoryManager
 import com.mogo.och.common.module.biz.birdge.BridgeService
 import com.mogo.och.common.module.biz.birdge.BridgeListener
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 import com.mogo.och.common.module.constant.OchCommonConst
+import com.mogo.och.common.module.manager.EnvManager


 /**
@@ -29,7 +33,16 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {

    override fun init(context: Context?) {
        this.context = context
-        OchBridgeManager.load()
+
+        // 车前引导线+预测数据
+        if(EnvManager.isB2Passenger()||EnvManager.isT1T2Passenger()){
+            OchBridgeManager.load()
+        }
+
+//        if(EnvManager.isT1T2Passenger()){
+            OchVlmManager.load()
+//        }
+
        TrajectoryManager.load()
    }

@@ -92,5 +105,17 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
        }
    }

+    fun invokeVlmDataDispatch(vlmData:VlmData){
+        M_LISTENERS.forEach {
+            it.value.onVlmDataListener(vlmData)
+        }
+    }
+
+    fun inVokeNdeData(title: String, desc: String, sortedList: List<RoadMsg>) {
+        M_LISTENERS.forEach {
+            it.value.onNdeDataListener(title,desc,sortedList)
+        }
+    }
+

 }
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt
@@ -3,13 +3,10 @@ package com.mogo.och.bridge
 import android.annotation.SuppressLint
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 import com.mogo.och.common.module.constant.OchCommonConst
-import com.mogo.och.common.module.manager.loop.BizLoopManager
-import com.mogo.och.common.module.manager.loop.LoopInfo
-import io.reactivex.schedulers.Schedulers
-import kotlin.properties.Delegates

 object BridgeServiceManager {

@@ -19,52 +16,12 @@ object BridgeServiceManager {
    private var bridgeService: BridgeProvider? =
        ARouter.getInstance().build(OchCommonConst.BIZ_Bridge).navigation() as BridgeProvider

-    private var trajectoryTime = 0L
-    private var predictionTime = 0L
-
-    init {
-        BizLoopManager.setLoopFunction(TAG,
-            LoopInfo(2, ::checkTimeout, immediately = false, scheduler = Schedulers.io())
-        )
-    }
-
-    // 是否有车前引导线
-    private var haveTrajectoryInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
-        if (oldValue != newValue) {
-            bridgeService?.invokeTrajectoryHaveDataListener(newValue)
-            CallerLogger.d(TAG,"haveTrajectoryInfo 发生变化：${newValue}")
-        }
-        trajectoryTime = System.currentTimeMillis()
-
-    }
-
-    // 是否有预测数据
-    private var havePredictionInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
-        if (oldValue != newValue) {
-            bridgeService?.invokePredictionHavaData(newValue)
-            CallerLogger.d(TAG,"havePredictionInfo 发生变化：${newValue}")
-        }
-        predictionTime = System.currentTimeMillis()
-    }
-
-    fun checkTimeout(){
-        if(System.currentTimeMillis() - trajectoryTime>2_000){
-            haveTrajectoryInfo = false
-            CallerLogger.d(TAG,"超时设置为false：haveTrajectoryInfo ${haveTrajectoryInfo}")
-        }
-        if(System.currentTimeMillis() - predictionTime>2_000){
-            havePredictionInfo = false
-            CallerLogger.d(TAG,"超时设置为false：havePredictionInfo ${havePredictionInfo}")
-        }
-    }
-
-
    fun invokePlanningListener(haveTrajectoryInfos:Boolean){
-        this.haveTrajectoryInfo = haveTrajectoryInfos
+        bridgeService?.invokeTrajectoryHaveDataListener(haveTrajectoryInfos)
    }

    fun invokePredictionHaveData(havePredictionInfos:Boolean){
-        this.havePredictionInfo = havePredictionInfos
+        bridgeService?.invokePredictionHavaData(havePredictionInfos)
    }

    fun invokeTrajectoryPoints(trajectoryList: MutableList<MogoLocation>){
@@ -78,4 +35,15 @@ object BridgeServiceManager {
        this.bridgeService?.invokeTrajectoryPointAndDistance(trajectoryList, distance)
    }

+    /**
+     * 分发vmData
+     */
+    fun invokeVlmData(vlmData: VlmData){
+        this.bridgeService?.invokeVlmDataDispatch(vlmData)
+    }
+
+    fun invokeNdeData(title: String, desc: String, sortedList: List<RoadMsg>) {
+        this.bridgeService?.inVokeNdeData(title,desc,sortedList)
+    }
+
 }
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt
@@ -0,0 +1,42 @@
+package com.mogo.och.bridge.bridge
+
+data class VlmImageData(val imageSourceTimestamp: Double ,var image: ByteArray?) {
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as VlmImageData
+
+        return imageSourceTimestamp == other.imageSourceTimestamp
+    }
+
+    override fun hashCode(): Int {
+        return imageSourceTimestamp.hashCode()
+    }
+
+    override fun toString(): String {
+        return "VlmImageData(imageSourceTimestamp=$imageSourceTimestamp)"
+    }
+
+
+}
+
+data class VlmMessageData(val messageSourceTimestamp: Double ,val id:Int?,val message:String?){
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as VlmMessageData
+
+//        if (messageSourceTimestamp != other.messageSourceTimestamp) return false
+        if (id != other.id) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = messageSourceTimestamp.hashCode()
+        result = 31 * result + (id ?: 0)
+        return result
+    }
+}
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt
@@ -4,24 +4,62 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager
-import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
 import com.mogo.och.bridge.BridgeServiceManager
+import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.common.module.manager.loop.LoopInfo
+import io.reactivex.schedulers.Schedulers
 import prediction2025.Prediction2025
 import mogo.telematics.pad.MessagePad
+import kotlin.properties.Delegates

-object OchBridgeManager: CallerBase<IMoGoPlanningTrajectoryListener>(),
-    IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentifyListener {
+object OchBridgeManager: IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentifyListener {
    private val TAG = "${M_OCHCOMMON}OchPlanningListenerManager"

+
+    private var trajectoryTime = 0L
+    private var predictionTime = 0L
+
    fun load(){
        CallerPlanningTrajectoryListenerManager.addListener(TAG,this)
        CallerAutopilotIdentifyListenerManager.addListener(TAG,this)
+        BizLoopManager.setLoopFunction(TAG, LoopInfo(2, ::checkTimeout, immediately = false, scheduler = Schedulers.io()))
    }

    fun release(){
        CallerPlanningTrajectoryListenerManager.removeListener(TAG)
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+    }
+
+    // 是否有车前引导线
+    private var haveTrajectoryInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            BridgeServiceManager.invokePlanningListener(newValue)
+            CallerLogger.d(TAG,"haveTrajectoryInfo 发生变化：${newValue}")
+        }
+        trajectoryTime = System.currentTimeMillis()
+
+    }
+
+    // 是否有预测数据
+    private var havePredictionInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            BridgeServiceManager.invokePredictionHaveData(newValue)
+            CallerLogger.d(TAG,"havePredictionInfo 发生变化：${newValue}")
+        }
+        predictionTime = System.currentTimeMillis()
+    }
+
+    fun checkTimeout(){
+        if(System.currentTimeMillis() - trajectoryTime>2_000){
+            haveTrajectoryInfo = false
+            CallerLogger.d(TAG,"超时设置为false：haveTrajectoryInfo $haveTrajectoryInfo")
+        }
+        if(System.currentTimeMillis() - predictionTime>2_000){
+            havePredictionInfo = false
+            CallerLogger.d(TAG,"超时设置为false：havePredictionInfo $havePredictionInfo")
+        }
    }

    /**
@@ -29,17 +67,20 @@ object OchBridgeManager: CallerBase<IMoGoPlanningTrajectoryListener>(),
     */
    override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
        if(trajectoryInfos.isEmpty()){
-            BridgeServiceManager.invokePlanningListener(false)
+            haveTrajectoryInfo = false
        }else{
-            BridgeServiceManager.invokePlanningListener(true)
+            haveTrajectoryInfo = true
        }
    }

+    /**
+     * 预测信息
+     */
    override fun onPredictionObstacleTrajectory(predictionObjects: Prediction2025.mPredictionObjects) {
        if (predictionObjects.objsAppList==null) {
-            BridgeServiceManager.invokePredictionHaveData(false)
+            havePredictionInfo = false
        }else{
-            BridgeServiceManager.invokePredictionHaveData(true)
+            havePredictionInfo = true
        }
    }

--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt
@@ -0,0 +1,84 @@
+package com.mogo.och.bridge.bridge
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
+import com.mogo.och.bridge.BridgeServiceManager
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+
+import mogo.telematics.pad.MessagePad.TrackedObject
+
+object OchNdeManager : IMoGoAutopilotIdentifyListener {
+    private val TAG = "${M_OCHCOMMON}OchVlmManager"
+
+    fun load(){
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+    }
+
+    fun release(){
+        CallerVlmManager.removeListener(TAG)
+    }
+
+    private var lastMap2 = HashMap<Int, String>()
+    private var lastTime = 0L
+
+    override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?){
+        super.onAutopilotIdentifyDataUpdate(trafficData)
+        handleCheLong(trafficData)
+    }
+
+    private fun handleCheLong(trafficData: List<TrackedObject>?) {
+        var hasCheLong = false
+        var isNewData = false
+        val roadMsgList = ArrayList<RoadMsg>()
+        val curMap = HashMap<Int, String>()
+        if (lastTime > 0 && System.currentTimeMillis() - lastTime > 60000) {
+            lastMap2.clear()// 清除上次车龙事件的缓存
+        }
+        var lastLocStr: String? = ""
+        trafficData?.forEach { obj ->
+            if (obj.type == 707) {// 当前方向所有车道
+                if (obj.polygonCount > 1) {// 当次数据有车龙事件
+                    lastLocStr = lastMap2[obj.laneNum]
+                    // 1. 上次无车龙但此次有车龙，认为是新车龙事件
+                    // 2. 两次都有车龙，则判断车龙的长度是否相同
+                    if (lastLocStr == null || lastLocStr == "0" || lastLocStr != "${obj.polygonList[0]}-${obj.polygonList[obj.polygonCount - 1]}") {
+                        isNewData = true
+                    }
+                    hasCheLong = true
+
+                    // key: 车道号，value: 非0代表有车龙且首、尾两个点可计算车龙长度
+                    curMap[obj.laneNum] =
+                        "${obj.polygonList[0]}-${obj.polygonList[obj.polygonCount - 1]}"
+                } else {// 当次没有车龙
+                    if (lastMap2[obj.laneNum] != null && lastMap2[obj.laneNum] != "0") {// 3. 上次有车龙，这次无车龙
+                        isNewData = true
+                    }
+                    // key: 车道号，value: 0代表无车龙
+                    curMap[obj.laneNum] = "0"
+                }
+                // 保存所有车道信息
+                roadMsgList.add(RoadMsg(
+                        obj.arrowType,
+                        laneNum = obj.laneNum,
+                        isRecommend = obj.suggestedLanes,
+                        isCheLong = obj.polygonCount > 1
+                    )
+                )
+            }
+        }
+        if (isNewData) {
+            // 清除上次车道信息
+            lastMap2.clear()
+            if (hasCheLong) {
+                // 缓存当次车龙事件所有车道信息
+                lastMap2.putAll(curMap)
+                lastTime = System.currentTimeMillis()
+
+                val sortedList = roadMsgList.sortedWith(compareByDescending { it.laneNum })
+                BridgeServiceManager.invokeNdeData("路口车龙","前方路口有车龙",sortedList)
+            }
+        }
+    }
+}
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt
@@ -0,0 +1,58 @@
+package com.mogo.och.bridge.bridge
+
+import com.mogo.eagle.core.function.api.autopilot.IVlmListener
+import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
+import com.mogo.och.bridge.BridgeServiceManager
+import com.mogo.och.common.module.biz.birdge.data.VlmData
+import vllm.Vlm
+import kotlin.properties.Delegates
+
+object OchVlmManager : IVlmListener {
+    private val TAG = "${M_OCHCOMMON}OchVlmManager"
+
+    fun load(){
+        CallerVlmManager.addListener(TAG,this)
+    }
+
+    fun release(){
+        CallerVlmManager.removeListener(TAG)
+    }
+
+    //
+    private var vllmImageData: VlmImageData by Delegates.observable(VlmImageData(0.0,null)) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            if(newValue.imageSourceTimestamp == vllmData.messageSourceTimestamp){
+                CallerLogger.d(TAG," message先来 图片后来 发送message和图片 ${newValue.imageSourceTimestamp}---${vllmData.messageSourceTimestamp}")
+                BridgeServiceManager.invokeVlmData(VlmData(vllmData.id,vllmData.message,newValue.image))
+            }
+        }
+    }
+    private var vllmData: VlmMessageData by Delegates.observable(VlmMessageData(0.0,0,"")) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+           if(newValue.messageSourceTimestamp== vllmImageData.imageSourceTimestamp){
+               // 图片先来 发送message和图片
+               BridgeServiceManager.invokeVlmData(VlmData(newValue.id,newValue.message,
+                   vllmImageData.image)
+               )
+               CallerLogger.d(TAG,"messsage后来 图片先来 发送message和图片 ${newValue.message}----${newValue.messageSourceTimestamp}---${newValue.id}")
+           }else{
+               // message 先来 单独发送message 图片来了后 再次发送出去
+               BridgeServiceManager.invokeVlmData(VlmData(newValue.id,newValue.message,null))
+               CallerLogger.d(TAG,"message先来 图片后来 发送message ${newValue.message}---${newValue.messageSourceTimestamp}---${newValue.id}")
+           }
+        }
+    }
+
+
+    override fun onVllm(sourceTimestamp: Double, vllm: Vlm.VLLMObject) {
+        if(this.vllmData.id!=vllm.workZone.id){
+            this.vllmData = VlmMessageData(sourceTimestamp,vllm.workZone.id,vllm.workZone.sceneExplantion)
+        }
+    }
+
+    override fun onVllmImage(sourceTimestamp: Double, image: ByteArray) {
+        this.vllmImageData = VlmImageData(sourceTimestamp,image)
+    }
+}