[8.1.0]统一红绿灯

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

@@ -24,8 +24,10 @@ import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.api.devatools.INDECloudListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerNDECloudManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
@@ -36,6 +38,9 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.skin.utils.SkinResources
+import com.zhjt.mogo.adas.common.cloud.AstFuncTlmPhaseStateLightState
+import com.zhjt.mogo.adas.data.bean.cloud.info.AstFuncTlmInfo
+import com.zhjt.mogo.adas.data.bean.cloud.pojo.AstFuncPojo
 import com.zhjt.service.chain.ChainLog
 import perception.FusionTrafficLightOuterClass
 import kotlin.math.abs
@@ -66,7 +71,7 @@ fun convert(state: FusionTrafficLightOuterClass.FusionLightState): TrafficLightE
  * @since: 2022/4/28
  */
 class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener,
-    IMoGoChassisLocationGCJ02Listener {
+    IMoGoChassisLocationGCJ02Listener, INDECloudListener {
 
     companion object {
         const val TAG = "TrafficLightDispatcher"
@@ -93,6 +98,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     @Volatile
     private var hasFusionLightStatus: Boolean = false
 
+    //是否有云控基础平台红绿灯数据
+    @Volatile
+    private var hasCloudControlLight: Boolean = false
+
+
     //红绿灯定时器，超时未更新隐藏红绿灯
     @Volatile
     private var lightCountDownTimer: CountDownTimer? = null
@@ -110,6 +120,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
         //注册获取当前车速
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 1, this)
+        //注册监听云控基础平台数据
+        CallerNDECloudManager.addListener(TAG,this)
     }
 
     /**
@@ -362,7 +374,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             "${SceneConstant.M_D_C}${TAG}",
             "resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus"
         )
-        if (!hasObuLightStatus && !hasAutopilotPerception && !hasFusionLightStatus) {
+        if (!hasObuLightStatus && !hasAutopilotPerception && !hasFusionLightStatus && !hasCloudControlLight) {
             if (isReset) {
                 hide("云端重置红绿灯数据", DataSourceType.AICLOUD)
             }
@@ -425,6 +437,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         hasObuLightStatus = false
         hasAutopilotPerception = false
         hasAiLightStatus = false
+        hasCloudControlLight = false
         hasFusionLightStatus = true
         CallerTrafficLightListenerManager.showFusionTrafficLight(currentState, currentDuration, nextState, nextDuration,
             nextTwoState, nextTwoDuration, lightSource)
@@ -542,6 +555,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         CallerAutopilotIdentifyListenerManager.removeListener(TAG)
         //取消注册获取当前车速
         CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        //取消注册云控基础平台数据
+        CallerNDECloudManager.removeListener(TAG)
     }
 
     /**
@@ -551,4 +566,64 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         currentSpeed = abs(mogoLocation?.gnssSpeed ?: 0f)
     }
 
+    /**
+     * NDE下发 信号灯信息
+     * @param astFuncPojo    云端辅助功能信息
+     * @param astFuncTlmInfo 云端下发信号灯信息
+     */
+    override fun onNdeCloudAstFuncTlm(astFuncPojo: AstFuncPojo, astFuncTlmInfo: AstFuncTlmInfo) {
+        super.onNdeCloudAstFuncTlm(astFuncPojo, astFuncTlmInfo)
+        if(astFuncTlmInfo.phaseState.isNotEmpty()){
+            if(hasFusionLightStatus){
+                return
+            }else{
+                val currentState = getLightStatus(astFuncTlmInfo.phaseState[0].lightState)
+                val nextState = getLightStatus(astFuncTlmInfo.phaseState[0].nextLightState)
+                val currentDuration = astFuncTlmInfo.phaseState[0].timeLeft
+                val nextDuration = astFuncTlmInfo.phaseState[0].nextLightTime
+                if(currentState!=TrafficLightEnum.BLACK && nextState != TrafficLightEnum.BLACK
+                    && currentDuration != 0 && nextDuration != 0){
+                    hasCloudControlLight = true
+                    //展示云控基础平台信号灯信息
+                    CallerTrafficLightListenerManager.showCloudTrafficLight(currentState, currentDuration, nextState, nextDuration)
+                }
+            }
+        }else{
+            hasCloudControlLight = false
+        }
+    }
+
+    /**
+     * 获取云控基础平台灯态
+     * @param lightState 当前灯态
+     */
+    private fun getLightStatus(lightState: AstFuncTlmPhaseStateLightState): TrafficLightEnum {
+        return when (lightState) {
+            //红闪、红灯
+            AstFuncTlmPhaseStateLightState.RED_FLASH,
+            AstFuncTlmPhaseStateLightState.RED -> {
+                TrafficLightEnum.RED
+            }
+            //绿灯待行状态、绿灯状态、受保护相位绿灯（箭头灯）
+            AstFuncTlmPhaseStateLightState.GREEN_WAIT,
+            AstFuncTlmPhaseStateLightState.GREEN,
+            AstFuncTlmPhaseStateLightState.GREEN_PROTECTED -> {
+                TrafficLightEnum.GREEN
+            }
+            //黄灯状态、黄闪
+            AstFuncTlmPhaseStateLightState.YELLOW,
+            AstFuncTlmPhaseStateLightState.YELLOW_FLASH -> {
+                TrafficLightEnum.YELLOW
+            }
+            //异常、预留、未知状态、信号灯未工作、故障
+            AstFuncTlmPhaseStateLightState.ERROR,
+            AstFuncTlmPhaseStateLightState.RESERVED,
+            AstFuncTlmPhaseStateLightState.UNKNOWN,
+            AstFuncTlmPhaseStateLightState.OFF,
+            AstFuncTlmPhaseStateLightState.FAULT -> {
+                TrafficLightEnum.BLACK
+            }
+        }
+    }
+
 }