From a9e378688a9cc10d9321f7c8331ebde84f8e6e4c Mon Sep 17 00:00:00 2001 From: zhongchao Date: Wed, 10 Nov 2021 10:18:17 +0800 Subject: [PATCH] add new data of param --- .../trafficlight/TrafficLightHMIManager.kt | 19 ++++-------- .../eagle/core/data/trafficlight/RoadArrow.kt | 29 +++++++++++++++++++ .../data/trafficlight/TrafficLightResult.kt | 18 ++++++++---- .../trafficlight/TrafficLightStatusHelper.kt | 20 +++++++++++++ .../socket/MogoAiCloudSocketManager.java | 1 - 5 files changed, 67 insertions(+), 20 deletions(-) create mode 100644 core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt create mode 100644 core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/TrafficLightHMIManager.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/TrafficLightHMIManager.kt index b0c789cf2f..5fc94ec938 100644 --- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/TrafficLightHMIManager.kt +++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/TrafficLightHMIManager.kt @@ -22,19 +22,12 @@ class TrafficLightHMIManager { } fun updateTrafficLight(trafficLightResult: TrafficLightResult) { - //todo 需要确认场景是否一致 -// if (!initView) { -// initView = true -// CallerHmiManager.showWarningTrafficLight(0) -// } -// val leftTrafficLightStatus = trafficLightResult.laneList.left -// callerHMIToChangeLight(leftTrafficLightStatus) -// -// val midTrafficLightStatus = trafficLightResult.laneList.mid -// callerHMIToChangeLight(midTrafficLightStatus) -// -// val rightTrafficLightStatus = trafficLightResult.laneList.right -// callerHMIToChangeLight(rightTrafficLightStatus) + val currentTrafficLight = trafficLightResult.currentRoadTrafficLight() + if (!initView) { + initView = true + CallerHmiManager.showWarningTrafficLight(0) + } + callerHMIToChangeLight(currentTrafficLight) } private fun callerHMIToChangeLight(trafficLightStatus: TrafficLightStatus) { diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt new file mode 100644 index 0000000000..7ec5d679e2 --- /dev/null +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/RoadArrow.kt @@ -0,0 +1,29 @@ +package com.mogo.eagle.core.data.trafficlight + +//道路地面要素，转向标识 +class RoadArrow { + + companion object { + private const val STRAIGHT_AHEAD = 201 //直行 + private const val STRAIGHT_OR_LEFT = 202 //直行左转 + private const val STRAIGHT_OR_RIGHT = 203 //直行右转 + private const val STRAIGHT_OR_U_TURN = 204 //直行转向 + private const val TURN_LEFT = 205 //左转 + private const val TURN_LEFT_OR_U_TURN = 206 //左转或转向 + private const val TURN_RIGHT = 206 //右转 + const val U_TURN = 211 //转向 + + fun isLeft(arrowId: Int): Boolean { + return arrowId == STRAIGHT_OR_LEFT || arrowId == TURN_LEFT || arrowId == TURN_LEFT_OR_U_TURN + } + + fun isStraight(arrowId: Int): Boolean { + return arrowId == STRAIGHT_AHEAD || arrowId == STRAIGHT_OR_RIGHT || arrowId == STRAIGHT_OR_U_TURN + } + + fun isRight(arrowId: Int): Boolean { + return arrowId == TURN_RIGHT || arrowId == STRAIGHT_OR_RIGHT + } + } + +} \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt index 0736ec429d..5ce9b12983 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt @@ -1,14 +1,20 @@ package com.mogo.eagle.core.data.trafficlight +fun TrafficLightResult.currentRoadTrafficLight(): TrafficLightStatus { + return TrafficLightStatusHelper.getCurrentRoadTrafficLight(this) +} + /** * 路口红绿灯请求返回数据 */ class TrafficLightResult( - val crossId: String, //roadID - val lat: Double, //纬度 - val lon: Double, //经度 - val direction: String, //航向角 - val lightId:Int, //红绿灯ID - val laneList: TrafficLightDetail //灯态具体信息 + val crossId: String, //roadID + val lat: Double, //纬度 + val lon: Double, //经度 + val direction: String, //航向角 + val lightId: Int, //红绿灯ID + val laneNo: Int, //车道号 + val arrowNo: Int, //当前车道对应地面要素转向 + val laneList: TrafficLightDetail //灯态具体信息 ) { } \ No newline at end of file diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt new file mode 100644 index 0000000000..1c3e3783b1 --- /dev/null +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightStatusHelper.kt @@ -0,0 +1,20 @@ +package com.mogo.eagle.core.data.trafficlight + +object TrafficLightStatusHelper { + + fun getCurrentRoadTrafficLight(trafficLightResult: TrafficLightResult): TrafficLightStatus? { + val arrowNo = trafficLightResult.arrowNo + if (RoadArrow.isLeft(arrowNo) && trafficLightResult.laneNo == -1) { + return trafficLightResult.laneList.left + } + if (RoadArrow.isStraight(arrowNo) && trafficLightResult.laneNo != -1) { + return trafficLightResult.laneList.mid + } + if (RoadArrow.isRight(arrowNo)) { + return trafficLightResult.laneList.right + } + return null + } + + +} \ No newline at end of file diff --git a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java index 6d50c415e8..ac9f284b7a 100644 --- a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java +++ b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java @@ -72,7 +72,6 @@ public class MogoAiCloudSocketManager extends ConnectionLifecycleListener implem @Override public void init(Context context, String appId) { this.mAppId = appId; - // TODO 这里出现了ANR异常，需要等 艾兵兵排查问题 SocketManager.getInstance().init(context); SocketManager.getInstance().registerSocketConnCallback(this); }