[6.5.0][道路事件] 行人/非机动车横穿预警

2024-07-05 19:23:28 +08:00
parent 4a43fb6936
commit a22b74e6ee
7 changed files with 196 additions and 65 deletions
--- 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
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum.ALERT_WARNING_TOP
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerLocation
@@ -31,6 +32,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager.V2NC
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -42,6 +44,8 @@ import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.function.biz.v2x.V2XBizTrace
+import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst
+import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker.Marker
 import com.mogo.eagle.function.biz.v2x.v2n.utils.EventDismissBean
@@ -51,6 +55,8 @@ import com.mogo.eagle.function.biz.v2x.v2n.utils.V2NUtils
 import com.mogo.eagle.function.biz.v2x.v2n.utils.V2XEventAnalyticsManager
 import com.mogo.map.MapDataWrapper
 import com.mogo.map.entities.Lane
+import com.mogo.map.overlay.core.Level.MAP_MARKER
+import com.mogo.map.overlay.point.Point
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.Header
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -58,6 +64,7 @@ import mogo.telematics.pad.MessagePad.V2nCrossSpeed
 import mogo.v2x.MogoV2X
 import mogo.v2x.MogoV2X.RSI_PB
 import mogo.v2x.MogoV2X.RTEData_PB
+import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.TimeUnit.SECONDS
 import kotlin.math.abs

@@ -73,6 +80,13 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
    private const val MSG_WHAT_DRAW_YONGDU = 0x1012  // 交通拥堵
    private const val MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE = 0x1013  // 他车倒车/逆行
    private const val MSG_WHAT_DRAW_GREEN_WAVE = 0x1014  // 绿波通行
+    private const val MSG_WHAT_DRAW_PEOPLE_CROSS = 0x1015 // 行人横穿
+
+    private val builder_people_cross by lazy {
+        Point.Options.Builder(V2XConst.V2X_MARKER_OWNER, MAP_MARKER).isUseGps(true).anchorColor("#D65D5AFF").set3DMode(true).icon3DRes(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.traffic3DIconId)
+    }
+
+    private val markers by lazy { ConcurrentHashMap<String, MarkerWrapper>() }

    private val callback = Handler.Callback { msg ->
        if (msg.what == MSG_WHAT_DRAW_SHIGONE || msg.what == MSG_WHAT_DRAW_SHIGU) {
@@ -385,6 +399,35 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    }
                }
            }
+        } else if (msg.what == MSG_WHAT_DRAW_PEOPLE_CROSS) {
+            val data = msg.obj as? MessagePad.Event ?: return@Callback true
+            AiRoadMarker.aiMakers.getOrPut(data.eventId) {
+                AiRoadMarker()
+            }.apply {
+                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+                val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, data.longitude, data.latitude)
+                if (distance > 150) {
+                    Logger.i(TAG, "people cross --> distance > 150")
+                    V2XBizTrace.onAck(TAG, mapOf("people cross" to "distance > 150"), true)
+                    return@Callback true
+                }
+                val cameraIp = if(TextUtils.isEmpty(data.exts)) ""
+                else (GsonUtils.fromJson(data.exts, Map::class.java)["cameraIp"])?:""
+                // 弹事件框
+                CallerRoadV2NEventWindowListenerManager.showLiveVideo(
+                    data.eventId,
+                    data.timestamp,
+                    EventTypeEnumNew.getUpdateIconRes(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType),
+                    String.format(EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType), distance.toInt()),
+                    isDriver,
+                    cameraIp.toString(),
+                    data.longitude,
+                    data.latitude)
+
+            }.also {
+                it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, 0.0), drawMarker = true, false, isHighFrequency = true)
+            }.receive()
        }
        true
    }
@@ -573,6 +616,14 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
        }
    }

+    private fun drawPeopleCross(event: MessagePad.Event) {
+        Log.d("V2NIdentifyDrawer", "---drawPeopleCross---: $event, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
+        if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
+            handler.removeMessages(MSG_WHAT_DRAW_PEOPLE_CROSS)
+            handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_PEOPLE_CROSS, event))
+        }
+    }
+
    private val nioEventListener = object : IMoGoV2nNioEventListener {
        override fun onV2nNioCongestionEvent(congestion: MessagePad.V2nCongestion) {
            super.onV2nNioCongestionEvent(congestion)
@@ -582,7 +633,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
        override fun onV2nNioCrossoverEvent(event: MessagePad.Event) {
            super.onV2nNioCrossoverEvent(event)
            V2XBizTrace.onAck(event,"onV2nNioCrossoverEvent", true)
-            //TODO renwj
+            drawPeopleCross(event)
        }

        override fun onV2nNioGreenWavePassageEvent(crossSpeed: V2nCrossSpeed) {
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/remove/MarkerRemoveManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/remove/MarkerRemoveManager.kt
@@ -19,7 +19,7 @@ import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicReference


-data class MarkerWrapper(val id: String, val lon: Double, val lat: Double, val coordinateType: Int, var markers: ArrayList<Point>? = null, var lines: ArrayList<Polyline>? = null, var elapsedDistance: Int = 500, var elapsedDuration: Long = -1, var onRemoved:((id: String) -> Unit)? = null) {
+data class MarkerWrapper(val id: String, var lon: Double, var lat: Double, val coordinateType: Int, var markers: ArrayList<Point>? = null, var lines: ArrayList<Polyline>? = null, var elapsedDistance: Int = 500, var elapsedDuration: Long = -1, var onRemoved:((id: String) -> Unit)? = null) {

    fun addLine(line: Polyline) {
        var ll = this.lines
@@ -215,4 +215,8 @@ object MarkerRemoveManager {
            handler.postDelayed(checkTask, 1000)
        }
    }
+
+    fun peekMarker(id: String): MarkerWrapper? {
+        return showedMarkers.find { it.id == id }
+    }
 }
--- 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
@@ -21,11 +21,15 @@ import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XAiRoadEventMarker
 import com.mogo.map.MogoData.Companion.mogoMapData
+import com.mogo.map.overlay.core.Level
+import com.mogo.map.overlay.core.Level.MAP_MARKER
 import com.mogo.map.overlay.core.Level.ROAD_CENTER_LINE
 import com.mogo.map.overlay.line.Polyline
+import com.mogo.map.overlay.point.Point
 import com.zhidaoauto.map.data.road.CenterLine
 import java.util.*
 import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.CopyOnWriteArraySet
 import java.util.concurrent.TimeUnit
 import java.util.concurrent.atomic.AtomicInteger
 import java.util.concurrent.atomic.AtomicReference
@@ -42,10 +46,19 @@ class AiRoadMarker {
        private const val TAG = "AiRoadMarker"
        private val COLOR_START = Color.parseColor("#002ABAD9")
        private val COLOR_END = Color.parseColor("#66FF7A30")
+        private val builders by lazy { ConcurrentHashMap<String, Point.Options.Builder>() }
+
+        private val markerIds by lazy { CopyOnWriteArraySet<String>() }
+
+        internal fun getOrPutPointOptionBuilder(id: String, owner: String, level: Level): Point.Options.Builder {
+            return builders.getOrPut(id) { Point.Options.Builder(owner, level) }
+        }
    }

    private val marker by lazy { AtomicReference<Marker>() }

+
+
    private val overlayManager by lazy {
        CallerMapUIServiceManager.getOverlayManager()
    }
@@ -84,68 +97,98 @@ class AiRoadMarker {
            .setWidth(50f).setUseGps(true)
    }

-    fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
-        v2nDrawHandler.post {
-            val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-            this.marker.set(marker)
-            var elapsedDistance = 500
-            if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
-                elapsedDistance = 10
-            }
-            var elapsedDuration = -1L
-            if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
-                elapsedDuration = TimeUnit.SECONDS.toMillis(3)
-            }
-            val wrapper = MarkerWrapper(marker.id, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = elapsedDistance, elapsedDuration = elapsedDuration)
-            if (drawMarker) {
-                marker.entity?.apply { roadMarker.drawMarkers(this, wrapper) }
-            }
-            if (drawRoadLine) {
-                //施工中心点前方的自车行驶方向上300米距离
-                var l1: CenterLine? = null
-                var l2: CenterLine? = null
-                mogoMapData.get()?.getCenterLineRangeInfo(
-                    marker.poi_lon,
-                    marker.poi_lat,
-                    location.heading.toFloat(),
-                    300f, call = { result ->
-                        //施工中心点后方的自车行驶方向上300米距离
-                        result?.let {
-                            V2XBizTrace.onAck("$TAG -marker-3-l1:", it)
-                            l1 = result
-                        }
-                        countDown.incrementAndGet()
-                        realMark(marker, wrapper, l1, l2, location.heading)
-                    })
-                mogoMapData.get()?.getCenterLineRangeInfo(
-                    marker.poi_lon,
-                    marker.poi_lat,
-                    location.heading.toFloat(),
-                    -200f, call = { result ->
-                        result?.let {
-                            V2XBizTrace.onAck("$TAG -marker-3-l2:", it)
-                            l2 = result
-                        }
-                        countDown.incrementAndGet()
-                        realMark(marker, wrapper, l1, l2, location.heading)
-                    })
+    fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false, isHighFrequency:Boolean = false) {
+        val markerId = marker.id
+        if (isHighFrequency && drawMarker) {
+            val builder = getOrPutPointOptionBuilder(markerId, V2XConst.V2X_MARKER_OWNER, MAP_MARKER)
+            builder
+                .set3DMode(true)
+                .isUseGps(true)
+                .icon3DRes(EventTypeEnumNew.getMarker3DRes(marker.poiType))
+                .anchorColor("#D65D5AFF")
+                .longitude(marker.poi_lon)
+                .latitude(marker.poi_lat)
+            CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(builder.build())?.let { p ->
+                if (!markerIds.contains(markerId)) {
+                    markerIds.add(markerId)
+                    val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = 10)
+                    wrapper.onRemoved = {
+                        builders.remove(markerId)
+                        markerIds.remove(p.id)
+                    }
+                    wrapper.addPoint(p)
+                    MarkerRemoveManager.addMarker(wrapper)
+                } else {
+                    MarkerRemoveManager.peekMarker(markerId)?.also {
+                        it.lon = marker.poi_lon
+                        it.lat = marker.poi_lat
+                    }
+                }
            }
+        } else {
+            v2nDrawHandler.post {
+                val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                this.marker.set(marker)
+                var elapsedDistance = 500
+                if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
+                    elapsedDistance = 10
+                }
+                var elapsedDuration = -1L
+                if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
+                    elapsedDuration = TimeUnit.SECONDS.toMillis(3)
+                }
+                val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = elapsedDistance, elapsedDuration = elapsedDuration)
+                if (drawMarker) {
+                    marker.entity?.apply { roadMarker.drawMarkers(this, wrapper) }
+                }
+                if (drawRoadLine) {
+                    //施工中心点前方的自车行驶方向上300米距离
+                    var l1: CenterLine? = null
+                    var l2: CenterLine? = null
+                    mogoMapData.get()?.getCenterLineRangeInfo(
+                        marker.poi_lon,
+                        marker.poi_lat,
+                        location.heading.toFloat(),
+                        300f, call = { result ->
+                            //施工中心点后方的自车行驶方向上300米距离
+                            result?.let {
+                                V2XBizTrace.onAck("$TAG -marker-3-l1:", it)
+                                l1 = result
+                            }
+                            countDown.incrementAndGet()
+                            realMark(marker, wrapper, l1, l2, location.heading)
+                        })
+                    mogoMapData.get()?.getCenterLineRangeInfo(
+                        marker.poi_lon,
+                        marker.poi_lat,
+                        location.heading.toFloat(),
+                        -200f, call = { result ->
+                            result?.let {
+                                V2XBizTrace.onAck("$TAG -marker-3-l2:", it)
+                                l2 = result
+                            }
+                            countDown.incrementAndGet()
+                            realMark(marker, wrapper, l1, l2, location.heading)
+                        })
+                }

-            if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
-                val builder = Polyline.Options.Builder(V2XConst.V2X_MARKER_OWNER, ROAD_CENTER_LINE)
-                builder.colors(listOf(Color.parseColor("#996DFED0"), Color.parseColor("#CC6DFED0"), Color.parseColor("#C76DFED0"), Color.parseColor("#006DFED0")))
-                    .setWidth(5f)
-                    .setUseGps(true)
-                    .points(listOf(MogoLatLng(location.latitude, location.longitude), MogoLatLng(marker.poi_lat, marker.poi_lon)))
-                    .setIsGradient(true)
-                    .isShowArrow(true)
-                CallerMapUIServiceManager.getOverlayManager()?.showOrUpdateLine(builder.build())?.also { wrapper.addLine(it) }
+                if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
+                    val builder = Polyline.Options.Builder(V2XConst.V2X_MARKER_OWNER, ROAD_CENTER_LINE)
+                    builder.colors(listOf(Color.parseColor("#996DFED0"), Color.parseColor("#CC6DFED0"), Color.parseColor("#C76DFED0"), Color.parseColor("#006DFED0")))
+                        .setWidth(50f)
+                        .setUseGps(true)
+                        .points(listOf(MogoLatLng(location.latitude, location.longitude), MogoLatLng(marker.poi_lat, marker.poi_lon)))
+                        .setIsGradient(true)
+                        .isShowArrow(true)
+                    CallerMapUIServiceManager.getOverlayManager()?.showOrUpdateLine(builder.build())?.also { wrapper.addLine(it) }
+                }
+                wrapper.onRemoved = { id ->
+                    aiMakers.remove(id)
+                }
+                MarkerRemoveManager.addMarker(wrapper)
            }
-            wrapper.onRemoved = { id ->
-                aiMakers.remove(id)
-            }
-            MarkerRemoveManager.addMarker(wrapper)
        }
+
    }

    @Synchronized
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
@@ -49,7 +49,7 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
                            MarkerLocation location = noveltyInfo.getLocation();
                            AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
                            AiRoadMarker aiMarker = new AiRoadMarker();
-                            aiMarker.marker(m, true, isDrawRoadLine(m.getPoiType()));
+                            aiMarker.marker(m, true, isDrawRoadLine(m.getPoiType()), false);
                            AiRoadMarker.aiMakers.put(noveltyInfo.getInfoId(), aiMarker);
                        }
                    } else {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
@@ -419,7 +419,17 @@ class MoGoHmiProvider : IMoGoHmiProvider {
                .width(WindowManager.LayoutParams.WRAP_CONTENT)
                .height(WindowManager.LayoutParams.WRAP_CONTENT)
                .attachToActivity(activity)
+                .draggable(true)
                .gravityInActivity(Gravity.CENTER)
+                .also {
+                    if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+                        it.offsetX(960)
+                        it.offsetY(445)
+                    } else {
+                        it.offsetX(980)
+                        it.offsetY(-324)
+                    }
+                }
                .onDismissed {
                    greenWave.set(null)
                }