[3.2.0]自车感知红绿灯域控不发送数据，隐藏红绿灯

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.datacenter.v2x
 
 import android.content.Context
+import android.os.CountDownTimer
 import android.os.Handler
 import com.mogo.eagle.core.data.biz.trafficlight.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -63,6 +64,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     @Volatile
     private var hasObuLightStatus: Boolean = false
 
+    private var lightCountDownTimer: CountDownTimer?= null
+    private var lastLightTime: Long = System.currentTimeMillis()
+
     fun initServer(context: Context) {
         mContext = context
         //注册监听AI云.OBU，路侧获取红绿灯状态
@@ -79,6 +83,28 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         CallerLogger.d("${SceneConstant.M_OBU}${TAG}", "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus ")
         if (!hasObuLightStatus) {
             if (!hasAiLightStatus) {
+
+                lastLightTime = System.currentTimeMillis()
+                if(lightCountDownTimer==null){
+                    lightCountDownTimer = object: CountDownTimer(300000,1000){
+                        override fun onTick(millisUntilFinished: Long) {
+                            if((System.currentTimeMillis() - lastLightTime)>1000){
+                                //隐藏红绿灯显示
+                                CallerTrafficLightListenerManager.disableTrafficLight()
+                                lightCountDownTimer?.cancel()
+                                lightCountDownTimer = null
+                            }
+                        }
+
+                        override fun onFinish() {
+                            lightCountDownTimer?.cancel()
+                            lightCountDownTimer = null
+                        }
+
+                    }
+                    lightCountDownTimer?.start()
+                }
+
                 trafficLights?.let { it ->
                     var light: TrafficLight? = null
                     if (it.hasStraight()) {
@@ -205,7 +231,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                 CallerTrafficLightListenerManager.changeCountdownYellow(remain)
             }
             TrafficLightEnum.BLACK -> {
-                CallerTrafficLightListenerManager.disableTrafficLightCountDown()
+                CallerTrafficLightListenerManager.disableTrafficLight()
             }
             else -> {
                 hide()