合并2.13.2的obu验收相关功能

2023-01-29 17:23:41 +08:00
parent a5a8157f6d
commit b60fbb2613
26 changed files with 1577 additions and 419 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
@@ -11,6 +11,7 @@ import com.mogo.eagle.function.biz.monitoring.CronTaskManager.Companion.cronTask
 import com.mogo.eagle.function.biz.notice.NoticeSocketManager.Companion.noticeSocketManager
 import com.mogo.eagle.function.biz.notice.network.NoticeNetWorkManager
 import com.mogo.eagle.function.biz.v2x.speedlimit.SpeedLimitDataManager
+import com.mogo.eagle.function.biz.v2x.speedlimit.SpeedLimitDispatcher
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightDispatcher
 import com.mogo.eagle.function.biz.v2x.vip.VipCarManager
@@ -30,6 +31,7 @@ class FuncBizProvider : IMoGoFuncBizProvider {
        TrafficLightDispatcher.INSTANCE.initServer(context) //todo 红绿灯中心模块放入dataCenter
        VipCarManager.INSTANCE.initServer(context)
        SpeedLimitDataManager.getInstance().start()
+        SpeedLimitDispatcher.INSTANCE.initLimit(context)
 //        RedLightWarningManager.INSTANCE.listenTrafficLight()
    }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/speedlimit/SpeedLimitDataManager.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/speedlimit/SpeedLimitDataManager.java
@@ -61,15 +61,16 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener

        @BizConfig(biz = V2I, dependentBizNode = "", bizNode = BIZ_SLW)
        private void getSpeedLimit() {
-            if (!isShowObuLimitSpeedView) {
+//            if (!isShowObuLimitSpeedView) {
                int speedLimit = CallerMapUIServiceManager.INSTANCE.getMapUIController().getLimitSpeed(mLocation.getLongitude(), mLocation.getLatitude(), (float) mLocation.getHeading());
                UiThreadHandler.post(() -> {
                    if (speedLimit > 0) {
-                        CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimit);
+//                        CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimit, 1);
                        CallLimitingVelocityListenerManager.INSTANCE.invokeOnLimitingVelocityChange(speedLimit);
+
                    }
                });
-            }
+//            }
        }
    }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/speedlimit/SpeedLimitDispatcher.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/speedlimit/SpeedLimitDispatcher.kt
@@ -0,0 +1,70 @@
+package com.mogo.eagle.function.biz.v2x.speedlimit
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener
+import com.mogo.eagle.core.function.api.v2x.ObuLimitingSpeedListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallObuLimitingSpeedListenerManager
+
+/**
+ * @author lixiaopeng
+ * @description 对多个限速进行调度（map，rsu ...）
+ * @since: 2023/1/12
+ */
+class SpeedLimitDispatcher : LimitingVelocityListener, ObuLimitingSpeedListener {
+    companion object {
+        const val TAG = "SpeedLimitDispatcher"
+        val INSTANCE: SpeedLimitDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            SpeedLimitDispatcher()
+        }
+    }
+
+    private var mContext: Context? = null
+
+    //是否有AI获取红绿灯灯态
+    private var hasObuStatus: Boolean = false
+
+
+    fun initLimit(context: Context) {
+        mContext = context
+        //注册监听MAP的限速
+        CallLimitingVelocityListenerManager.addListener(TAG, this)
+        //注册监听OBU的限速
+        CallObuLimitingSpeedListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     * 地图限速数据
+     */
+    override fun onLimitingVelocityChange(limitingVelocity: Int) {
+//        CallerHmiManager.disableLimitingVelocity()
+        if (!hasObuStatus) {
+            CallerHmiManager.showLimitingVelocity(limitingVelocity, 1)
+        }
+    }
+
+    /**
+     * obu限速
+     */
+    override fun onObuLimitingSpeedChange(limitingSpeed: Int) {
+//        CallerHmiManager.disableLimitingVelocity()
+        if (limitingSpeed > 0) {
+            hasObuStatus = true
+            CallerHmiManager.showLimitingVelocity(limitingSpeed, 2)
+        } else {
+            hasObuStatus = false
+            CallerHmiManager.disableLimitingVelocity()
+        }
+    }
+
+    fun destroy() {
+        //取消注册监听AI云获取红绿灯状态
+        CallerTrafficLightListenerManager.removeListener(TAG)
+        //取消注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+    }
+
+}
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/TrafficLightDispatcher.kt
@@ -4,9 +4,11 @@ import android.content.Context
 import android.os.Handler
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightListener
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.function.biz.v2x.trafficlight.TrafficLightHMIManager
 import perception.TrafficLightOuterClass
@@ -17,26 +19,36 @@ import perception.TrafficLightOuterClass.TrafficLight
 * @description 对多个红绿灯信号来源进行统一调度（AI云、工控机）
 * @since: 2022/4/28
 */
-class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLightListener {
+class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener,
+    IMoGoObuTrafficLightListener {

-    companion object{
+    companion object {
        const val TAG = "TrafficLightDispatcher"
-        val INSTANCE: TrafficLightDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED){
+        val INSTANCE: TrafficLightDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
            TrafficLightDispatcher()
        }

    }

    private var mContext: Context? = null
+
    //是否有AI获取红绿灯灯态
    private var hasAiLightStatus: Boolean = false
+    //obu数据
+    private var hasObuLightStatus: Boolean = false

-    fun initServer(context: Context){
+    fun initServer(context: Context) {
        mContext = context
-        //注册监听AI云获取红绿灯状态,注册监听AI云进入路口,注册监听红绿灯请求失败
+        //注册监听AI云获取红绿灯状态
+        CallerTrafficLightListenerManager.addListener(TAG, this)
+        //注册监听AI云进入路口
+        CallerTrafficLightListenerManager.addListener(TAG, this)
+        //注册监听红绿灯请求失败
        CallerTrafficLightListenerManager.addListener(TAG, this)
        //注册监听工控机感知红绿灯
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+        //obu红绿灯数据
+        CallerObuTrafficLightListenerManager.addListener(TAG, this)
    }

    /**
@@ -44,46 +56,48 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
     * @param trafficLights 感知红绿灯
     */
    override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
-        if(!hasAiLightStatus){
-            trafficLights?.let { it ->
-                var light :TrafficLight?= null
-                if(it.hasStraight()){
-                    light = it.straight
-                }else if(it.hasLeft()){
-                    light = it.left
-                }else if(it.hasRight()){
-                    light = it.right
-                }else if(it.hasUTurn()){
-                    light = it.uTurn
-                }
-                if(light == null){
-                    //隐藏红绿灯显示
-                    TrafficLightHMIManager.INSTANCE.hideTrafficLight()
-                }else{
-                    when (light.state) {
-                        TrafficLightOuterClass.LightState.STATE_RED -> {
-                            //红灯
-                            CallerHmiManager.showWarningTrafficLight(1,2)
-                            CallerHmiManager.changeCountdownGreen(0)
-                        }
-                        TrafficLightOuterClass.LightState.STATE_YELLOW -> {
-                            //黄灯
-                            CallerHmiManager.showWarningTrafficLight(2,2)
-                            CallerHmiManager.changeCountdownGreen(0)
-                        }
-                        TrafficLightOuterClass.LightState.STATE_GREEN -> {
-                            //绿灯
-                            CallerHmiManager.showWarningTrafficLight(3,2)
-                            CallerHmiManager.changeCountdownGreen(0)
-                        }
-                        TrafficLightOuterClass.LightState.STATE_OFF -> {
-                            //黑灯，隐藏红绿灯显示
-                            TrafficLightHMIManager.INSTANCE.hideTrafficLight()
-                        }
-                        else -> {}
+        if (!hasObuLightStatus) {
+            if (!hasAiLightStatus) {
+                trafficLights?.let { it ->
+                    var light: TrafficLight? = null
+                    if (it.hasStraight()) {
+                        light = it.straight
+                    } else if (it.hasLeft()) {
+                        light = it.left
+                    } else if (it.hasRight()) {
+                        light = it.right
+                    } else if (it.hasUTurn()) {
+                        light = it.uTurn
+                    }
+                    if (light == null) {
+                        //隐藏红绿灯显示
+                        TrafficLightHMIManager.INSTANCE.hideTrafficLight()
+                    } else {
+                        when (light.state) {
+                            TrafficLightOuterClass.LightState.STATE_RED -> {
+                                //红灯
+                                CallerHmiManager.showWarningTrafficLight(1, 2)
+                                CallerHmiManager.changeCountdownGreen(0)
+                            }
+                            TrafficLightOuterClass.LightState.STATE_YELLOW -> {
+                                //黄灯
+                                CallerHmiManager.showWarningTrafficLight(2, 2)
+                                CallerHmiManager.changeCountdownGreen(0)
+                            }
+                            TrafficLightOuterClass.LightState.STATE_GREEN -> {
+                                //绿灯
+                                CallerHmiManager.showWarningTrafficLight(3, 2)
+                                CallerHmiManager.changeCountdownGreen(0)
+                            }
+                            TrafficLightOuterClass.LightState.STATE_OFF -> {
+                                //黑灯，隐藏红绿灯显示
+                                TrafficLightHMIManager.INSTANCE.hideTrafficLight()
+                            }
+                            else -> {}
+                        }
                    }
-                }

+                }
            }
        }
    }
@@ -92,21 +106,28 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
     * AI云获取红绿灯状态
     */
    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
-        TrafficLightHMIManager.INSTANCE.updateTrafficLight(trafficLightResult)
-        hasAiLightStatus = true
+        if (!hasObuLightStatus) {
+            TrafficLightHMIManager.INSTANCE.updateTrafficLight(trafficLightResult)
+            hasAiLightStatus = true
+        }
    }

    /**
-     * 车辆进入路口
+     * 车辆进入路口回调
+     * @param enter true:进入路口；false:离开路口
     */
    override fun onEnterCrossRoad(enter: Boolean) {
-        if(!enter){
+        if (!enter) {
            Handler().postDelayed({
                hasAiLightStatus = false
+                hasObuLightStatus = false
            }, 5000)
+            CallerTrafficLightListenerManager.resetTrafficLightData()
+            //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
+            if(!hasObuLightStatus){
+                TrafficLightHMIManager.INSTANCE.hideTrafficLight()
+            }
        }
-
-
    }

    /**
@@ -114,14 +135,32 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
     */
    override fun onTrafficRequestError() {
        hasAiLightStatus = false
+        CallerTrafficLightListenerManager.resetTrafficLightData()
+        if(!hasObuLightStatus){
+            if (TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()) {
+                TrafficLightHMIManager.INSTANCE.hideTrafficLight()
+            }
+        }
    }

+    /**
+     * obu 红绿灯数据
+     */
+    override fun onObuTrafficLight(light: Int) {
+        super.onObuTrafficLight(light)
+        hasObuLightStatus = true
+        CallerHmiManager.showWarningTrafficLight(light, 3)
+    }

-    fun destroy(){
-        //取消注册监听AI云获取红绿灯状态,取消注册监听红绿灯请求失败,取消注册监听AI云进入路口
+    fun destroy() {
+        //取消注册监听AI云获取红绿灯状态
        CallerTrafficLightListenerManager.removeListener(TAG)
        //取消注册监听工控机感知红绿灯
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        //取消注册监听红绿灯请求失败
+        CallerTrafficLightListenerManager.removeListener(TAG)
+        //取消注册监听AI云进入路口
+        CallerTrafficLightListenerManager.removeListener(TAG)
    }

 }