Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XWaringManager.java

@@ -1,6 +1,7 @@
 package com.mogo.module.v2x;
 
 import android.content.Context;
+import android.content.Intent;
 import android.util.Log;
 
 import com.mogo.map.MogoLatLng;
@@ -80,12 +81,22 @@ public class V2XWaringManager {
     /**
      * 测试数据
      */
-    private void testData() {
+    private void testData(String adasResult) {
 
         try {
+            int id = R.raw.scenario_warning_event_data;
+            switch (adasResult) {
+                case "left":
+                    id = R.raw.scenario_warning_event_data_left;
+                    break;
+                case "pedestrians":
+                    id = R.raw.scenario_warning_event_data_pedestrians;
+                    break;
+                default:
+            }
             InputStream inputStream = V2XUtils.getApp()
                     .getResources()
-                    .openRawResource(R.raw.scenario_warning_event_data);
+                    .openRawResource(id);
             ByteArrayOutputStream baos = new ByteArrayOutputStream();
             int len = -1;
             byte[] buffer = new byte[1024];
@@ -124,7 +135,7 @@ public class V2XWaringManager {
                 .getMoGoSocketManager()
                 .registerOnMessageListener(
                         401018,
-                        v2XWarnMessageListener );
+                        v2XWarnMessageListener);
     }
 
     public V2XWarnMessageListener getV2XMessageListener() {
@@ -135,11 +146,11 @@ public class V2XWaringManager {
     /**
      * 处理adas返回的数据
      */
-    public void handleAdasData() {
+    public void handleAdasData(Intent intent) {
         Log.d(V2XConst.LOG_NAME_WARN, "V2XWaringManager ---- handleAdasData ");
-
+        String adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
         //测试数据
-        testData();
+        testData(adasResult);
 
         // adas 每隔一秒传递的他车或行人数据，避免重复。
 //        V2XServiceManager.getmIMogoADASController().addAdasRecognizedDataCallback(resultList -> {
@@ -158,6 +169,7 @@ public class V2XWaringManager {
 
     /**
      * 添加2d的碰撞 marker
+     *
      * @param markerShowEntity
      * @return
      */

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/receiver/AdasDataBroadcastReceiver.java

@@ -23,7 +23,7 @@ public class AdasDataBroadcastReceiver extends BroadcastReceiver {
 //            Logger.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -->" + GsonUtil.jsonFromObject(adasResult));
             String  adasResult = (String) intent.getSerializableExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY);
             Log.d(V2XConst.LOG_NAME_WARN, "AdasDataBroadcastReceiver -----> ");
-            V2XWaringManager.getInstance().handleAdasData();
+            V2XWaringManager.getInstance().handleAdasData(intent);
 
         } catch (Exception e) {
             e.printStackTrace();

modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java

@@ -362,17 +362,21 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
         });
 
         /*
-         *障碍物绕行
+         *车路云场景预警-左侧
          * */
         btnTriggerObstacleDetour.setOnClickListener(v -> {
-
+            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
+            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "left");
+            getContext().sendBroadcast(intent);
         });
 
         /*
-         *行人预警，行人路线预测
+         *行人预警，行人路线预测  车路云预警-前方行人
          * */
         btnTriggerPedestrianWarning.setOnClickListener(v -> {
-
+            Intent intent = new Intent(V2XConst.BROADCAST_ADAS_SCENE_HANDLER_ACTION);
+            intent.putExtra(V2XConst.BROADCAST_ADAS_EXTRA_KEY, "pedestrians");
+            getContext().sendBroadcast(intent);
         });
 
         /*