[6.5.0][道路事件] 修正施工占道提示逻辑
This commit is contained in:
renwj
@@ -25,6 +25,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager.V2NC
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import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
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import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
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import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
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import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
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import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
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import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
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import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
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@@ -34,6 +35,7 @@ import com.mogo.eagle.core.utilcode.util.CoordinateTransform
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import com.mogo.eagle.core.utilcode.util.CoordinateUtils
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import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
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import com.mogo.eagle.core.utilcode.util.GsonUtils
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import com.mogo.eagle.core.utilcode.util.ThreadUtils
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import com.mogo.eagle.function.biz.v2x.V2XBizTrace
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import com.mogo.eagle.function.biz.v2x.v2n.pnc.beans.Extras
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import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker
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@@ -44,6 +46,10 @@ import com.mogo.eagle.function.biz.v2x.v2n.utils.IEventDismissListener
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import com.mogo.eagle.function.biz.v2x.v2n.utils.V2NUtils
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import com.mogo.eagle.function.biz.v2x.v2n.utils.V2XEventAnalyticsManager
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import com.mogo.map.entities.Lane
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import kotlinx.coroutines.CoroutineScope
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import kotlinx.coroutines.asCoroutineDispatcher
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.launch
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import mogo.telematics.pad.MessagePad
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import mogo.telematics.pad.MessagePad.Header
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import mogo.telematics.pad.MessagePad.TrackedObject
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@@ -66,6 +72,8 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
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private const val MSG_WHAT_DRAW_GREEN_WAVE = 0x1014 // 绿波通行
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private const val MSG_WHAT_DRAW_PEOPLE_CROSS = 0x1015 // 行人横穿
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private val scope by lazy { CoroutineScope(ThreadUtils.getCpuPool().asCoroutineDispatcher()) }
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private val callback = Handler.Callback { msg ->
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if (msg.what == MSG_WHAT_DRAW_SHIGONE || msg.what == MSG_WHAT_DRAW_SHIGU) {
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val events = msg.obj as? List<*>
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@@ -108,90 +116,97 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
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Log.d("V2NIdentifyDrawer", "---callback --- id: $id ---")
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AiRoadMarker.aiMakers.getOrPut(id) {
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AiRoadMarker().apply {
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val poiType = getPoiType(itx.type).poiType
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val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
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marker(Marker(id,
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poiType,
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itx.longitude,
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itx.latitude,
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itx.heading,
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polygon,
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null,
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V2XRoadEventEntity().also { e ->
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e.poiType = poiType
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e.location = MarkerLocation().also { l ->
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val p = CoordinateTransform.WGS84ToGCJ02(
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itx.longitude,
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itx.latitude
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)
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l.lon = p[0]
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l.lat = p[1]
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l.angle = itx.heading
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}
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e.noveltyInfo = MarkerExploreWay().also {
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it.poiType = poiType
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it.location = e.location
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it.polygon = polygon
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}
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}, isUseGps = true), true, isDrawRoadLine(poiType)
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)
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scope.launch {
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Log.d("V2NIdentifyDrawer", "--- 判断是否在路口 ---")
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while (CallerMapRoadListenerManager.isInRoadCross()) {
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delay(2000)
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}
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Log.d("V2NIdentifyDrawer", "--- 不在路口了 ---")
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val poiType = getPoiType(itx.type).poiType
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val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
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marker(Marker(id,
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poiType,
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itx.longitude,
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itx.latitude,
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itx.heading,
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polygon,
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null,
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V2XRoadEventEntity().also { e ->
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e.poiType = poiType
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e.location = MarkerLocation().also { l ->
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val p = CoordinateTransform.WGS84ToGCJ02(
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itx.longitude,
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itx.latitude
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)
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l.lon = p[0]
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l.lat = p[1]
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l.angle = itx.heading
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}
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e.noveltyInfo = MarkerExploreWay().also {
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it.poiType = poiType
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it.location = e.location
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it.polygon = polygon
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}
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}, isUseGps = true), true, isDrawRoadLine(poiType)
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)
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val distance = CoordinateUtils.calculateLineDistance(
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itx.longitude,
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itx.latitude,
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car.longitude,
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car.latitude
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)
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val alertContent = getAlertContent(poiType, distance.toDouble())
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val ttsContent = getTtsContent(poiType, distance.toDouble())
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V2XBizTrace.onAck(TAG, "绘制poi事件:$poiType")
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saveMsgBox(
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MsgBoxBean(
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V2X,
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V2XMsg(
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poiType,
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alertContent,
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ttsContent,
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CommunicationType.V2N.name
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val distance = CoordinateUtils.calculateLineDistance(
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itx.longitude,
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itx.latitude,
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car.longitude,
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car.latitude
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)
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val alertContent = getAlertContent(poiType, distance.toDouble())
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val ttsContent = getTtsContent(poiType, distance.toDouble())
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V2XBizTrace.onAck(TAG, "绘制poi事件:$poiType")
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saveMsgBox(
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MsgBoxBean(
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V2X,
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V2XMsg(
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poiType,
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alertContent,
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ttsContent,
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CommunicationType.V2N.name
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)
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)
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)
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)
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if (polygon.isNotEmpty()) {
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val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
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if (decision != null) {
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val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
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val total = decision.total
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val occupy = decision.occupy
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val laneId = decision.laneId
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val sb = StringBuilder()
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if (laneId != null) {
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val isOccupy = occupy.find { it.id == laneId } != null
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if (isOccupy) {
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if (isDriver) {
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val bestLane = computeBestLane(laneId, occupy, total)
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇建议您尽快${bestLane.second}")
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if (polygon.isNotEmpty()) {
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val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
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if (decision != null) {
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val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
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val total = decision.total
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val occupy = decision.occupy
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val laneId = decision.laneId
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val sb = StringBuilder()
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if (laneId != null) {
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val isOccupy = occupy.find { it.id == laneId } != null
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if (isOccupy) {
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if (isDriver) {
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val bestLane = V2NUtils.computeBestLane(laneId, occupy, total)
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇建议您尽快${bestLane.second}")
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} else {
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
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}
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} else {
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
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}
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} else {
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if (isDriver) {
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇提醒您小心${ if (computeDirection(laneId, occupy) > 0) "右侧" else "左侧" }行人及来车")
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} else {
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
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if (isDriver) {
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇提醒您小心${ if (computeDirection(laneId, occupy) > 0) "右侧" else "左侧" }行人及来车")
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} else {
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sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
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}
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}
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}
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val ss = sb.toString()
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val content = ss.substring(0, ss.indexOf("@@"))
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val tts = ss.replace("@@", "")
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CallerRoadV2NEventWindowListenerManager.showLiveVideo(id, System.currentTimeMillis(), EventTypeEnumNew.getUpdateIconRes(poiType), content, isDriver, tts, itx.cameraIp, itx.longitude, itx.latitude)
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}
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val ss = sb.toString()
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val content = ss.substring(0, ss.indexOf("@@"))
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val tts = ss.replace("@@", "")
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CallerRoadV2NEventWindowListenerManager.showLiveVideo(id, System.currentTimeMillis(), EventTypeEnumNew.getUpdateIconRes(poiType), content, isDriver, tts, itx.cameraIp, itx.longitude, itx.latitude)
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}
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//消息埋点
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V2XEventAnalyticsManager.triggerV2XEvent(
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poiType, alertContent, ttsContent,
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DataSourceType.AICLOUD, CommunicationType.V2N
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)
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}
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//消息埋点
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V2XEventAnalyticsManager.triggerV2XEvent(
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poiType, alertContent, ttsContent,
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DataSourceType.AICLOUD, CommunicationType.V2N
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)
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}
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}.receive()
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}
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@@ -365,46 +380,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
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}
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}
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private fun computeBestLane(laneId: Int, occupy: List<Lane>, total: List<Lane>): kotlin.Pair<Int, String> {
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if (occupy.size == total.size) {
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return kotlin.Pair(Int.MIN_VALUE, "更换路线")
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}
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val map = HashMap<Int, String>()
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if (total.size % 2 == 0) {
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val half = total.size / 2
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for (i in 0 until half) {
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val left = total[i]
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val right = total[half + i]
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map[left.id] = "驶入左${i + 1}车道"
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map[right.id] = "驶入右${i + 1}车道"
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}
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} else {
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val middle = total.size / 2
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map[total[middle].id] = "驶入中间车道"
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for (i in 0 until middle) {
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val left = total[i]
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val right = total[middle + i + 1]
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map[left.id] = "驶入左${i + 1}车道"
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map[right.id] = "驶入右${i + 1}车道"
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}
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}
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val ids = occupy.map { it.id }
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val freeLanes = total.filter { itx -> !ids.contains(itx.id) }
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if (freeLanes.isNotEmpty()) {
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var best = Int.MIN_VALUE
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var delta = Int.MAX_VALUE
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for (lane in freeLanes) {
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val abs = abs(lane.id - laneId)
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if (abs < delta && lane.id != laneId) {
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best = lane.id
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delta = abs
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}
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}
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return kotlin.Pair(best, map[best] ?: "更换路线")
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}
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return kotlin.Pair(Int.MIN_VALUE, "更换路线")
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}
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private fun getTtsContent(poiType: String, distance: Double): String {
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return when (poiType) {
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EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType -> {
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@@ -7,11 +7,11 @@ import com.mogo.map.entities.Lane
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import com.zhidaoauto.map.data.road.CenterLine
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import org.locationtech.jts.geom.Coordinate
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import org.locationtech.jts.geom.GeometryFactory
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import org.locationtech.jts.geom.LineString
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import org.locationtech.jts.geom.LineString.MINIMUM_VALID_SIZE
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import org.locationtech.jts.geom.Polygon
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import org.locationtech.jts.linearref.LengthIndexedLine
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import java.util.concurrent.CountDownLatch
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import java.util.concurrent.TimeUnit.SECONDS
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import kotlin.math.abs
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object V2NUtils {
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@@ -22,7 +22,7 @@ object V2NUtils {
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fun computeOccupyLanesInfo(car: Triple<Double, Double, Float>, point: Triple<Double, Double, Float> ,polygon: List<Pair<Double, Double>>): Decision? {
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val roadInfo = MapDataWrapper.getRoadInfo(point.first, point.second, point.third)
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Log.d(TAG, "road_info:$roadInfo")
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val lanes = MapDataWrapper.getLaneInfo(roadInfo.tileId, roadInfo.roadId)
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val lanes = MapDataWrapper.getLaneInfo(roadInfo.tileId, roadInfo.roadId).sortedByDescending { it.id }
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Log.d(TAG, "lanes: ${lanes.joinToString(",") { itx -> itx.points.joinToString(",") { "${it.first}, ${it.second}" } } }")
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if (lanes.isEmpty()) {
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return null
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@@ -54,30 +54,57 @@ object V2NUtils {
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centerLine = it
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latch.countDown()
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}
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latch.await()
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return Decision(centerLine?.lane_id?.toInt() , lanes, occupy)
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return try {
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if (latch.await(3, SECONDS)) {
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Decision(centerLine?.lane_id?.toInt() , lanes, occupy)
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} else {
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Decision(null, lanes, occupy)
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}
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} catch (t: Throwable) {
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t.printStackTrace()
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return Decision(null, lanes, occupy)
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}
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}
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data class Decision(val laneId: Int? = null,val total: List<Lane>, val occupy: List<Lane>)
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fun generateIntermediatePoints(head: Pair<Double, Double>, tail: Pair<Double, Double>, interval: Double): List<Pair<Double, Double>> {
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val geometryFactory = GeometryFactory()
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val start = Coordinate(head.first, head.second)
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val end = Coordinate(tail.first, tail.second)
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val line: LineString = geometryFactory.createLineString(arrayOf(start, end))
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val indexedLine = LengthIndexedLine(line)
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val lineLength = indexedLine.endIndex
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val result: MutableList<Coordinate> = ArrayList()
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var i = 0.0
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while (i <= lineLength) {
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val p = indexedLine.extractPoint(i)
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result.add(p)
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i += interval
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fun computeBestLane(laneId: Int, occupy: List<Lane>, total: List<Lane>): Pair<Int, String> {
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if (occupy.size == total.size) {
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return Pair(Int.MIN_VALUE, "更换路线")
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}
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if (result[result.size - 1].distance(end) > 0.0001) {
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result.add(end)
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val map = HashMap<Int, String>()
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if (total.size % 2 == 0) {
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val half = total.size / 2
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for (i in 0 until half) {
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val left = total[i]
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val right = total[half + i]
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map[left.id] = "驶入左${i + 1}车道"
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map[right.id] = "驶入右${i + 1}车道"
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}
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} else {
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val middle = total.size / 2
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map[total[middle].id] = "驶入中间车道"
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for (i in 0 until middle) {
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val left = total[i]
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val right = total[middle + i + 1]
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map[left.id] = "驶入左${i + 1}车道"
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map[right.id] = "驶入右${i + 1}车道"
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}
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}
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return result.map { Pair(it.x, it.y) }
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val ids = occupy.map { it.id }
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val freeLanes = total.filter { itx -> !ids.contains(itx.id) }
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if (freeLanes.isNotEmpty()) {
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var best = Int.MIN_VALUE
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var delta = Int.MAX_VALUE
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for (lane in freeLanes) {
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val abs = abs(lane.id - laneId)
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if (abs < delta && lane.id != laneId) {
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best = lane.id
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delta = abs
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}
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}
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return Pair(best, map[best] ?: "更换路线")
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}
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return Pair(Int.MIN_VALUE, "更换路线")
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}
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}
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Block a user