[2.13.2] 修改红绿灯优先级显示

2023-01-11 11:56:38 +08:00
parent 1d755b0325
commit c57e9d86e8
9 changed files with 163 additions and 57 deletions
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
@@ -174,7 +174,7 @@ class SingleTrafficLightView @JvmOverloads constructor(
     * 更新红绿灯icon
     *
     * @param lightId 0-都是默认，1-红，2-黄，3-绿
-     * @param lightSource 1:云端下发；2:自车感知
+     * @param lightSource 1:云端下发；2:自车感知; 3:OBU
     */
    private fun updateTrafficLightIcon(lightId: Int,lightSource: Int) {
        UiThreadHandler.post {
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
@@ -19,6 +19,7 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Defa
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
 import com.mogo.eagle.core.function.obu.mogo.utils.TrafficDataConvertUtilsNew
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
@@ -939,7 +940,8 @@ class MogoPrivateObuNewManager private constructor() {
        when (currentLight.light) {
            // 灯光不可用
            0 -> {
-                CallerHmiManager.showWarningTrafficLight(0, 3)
+//                CallerHmiManager.showWarningTrafficLight(0, 3)
+                CallerObuTrafficLightListenerManager.invokeObuTrafficLight(0)
            }
            // 红灯
            2, 3 -> {
@@ -948,8 +950,8 @@ class MogoPrivateObuNewManager private constructor() {
                    isRedLight = true
                }
                isGreenLight = false
-                CallerHmiManager.showWarningTrafficLight(1, 3)
-
+//                CallerHmiManager.showWarningTrafficLight(1, 3)
+                CallerObuTrafficLightListenerManager.invokeObuTrafficLight(1)
                val red = currentLight.countDown.toInt()
                CallerHmiManager.changeCountdownRed(red)
            }
@@ -961,7 +963,8 @@ class MogoPrivateObuNewManager private constructor() {
                    isGreenLight = true
                }
                isRedLight = false
-                CallerHmiManager.showWarningTrafficLight(3, 3)
+//                CallerHmiManager.showWarningTrafficLight(3, 3)
+                CallerObuTrafficLightListenerManager.invokeObuTrafficLight(3)
                val green = currentLight.countDown.toInt()
                CallerHmiManager.changeCountdownGreen(green)
            }
@@ -969,7 +972,8 @@ class MogoPrivateObuNewManager private constructor() {
            // 黄灯
            7, 8 -> {
                CallerHmiManager.disableWarningV2X(appId.toString())
-                CallerHmiManager.showWarningTrafficLight(2, 3)
+//                CallerHmiManager.showWarningTrafficLight(2, 3)
+                CallerObuTrafficLightListenerManager.invokeObuTrafficLight(2)
                val yellow = currentLight.countDown.toInt()
                CallerHmiManager.changeCountdownYellow(yellow)
            }
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertDcCombineUtils.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/utils/TrafficDataConvertDcCombineUtils.kt
@@ -33,7 +33,6 @@ object TrafficDataConvertDcCombineUtils {
        trafficData.lat = info.warningMsg[0].position.latitude
        trafficData.lon = info.warningMsg[0].position.longitude
        trafficData.threatLevel = info.warningMsg[0].warningLevel
-        Log.e("liyz", "cvxRtiThreatIndInfo2TrafficData trafficData  -- ${trafficData.toString()}")
        return trafficData
    }

@@ -43,7 +42,6 @@ object TrafficDataConvertDcCombineUtils {
    fun cvxPtcThreatIndInfo2TrafficData(info: ObuWarningEvent.RsmWarningData): TrafficData? {
        if (info.participantOfOne == null) {
            CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
-            Log.e("liyz", "cvxPtcThreatIndInfo2TrafficData info.participant ")
            return null
        }
        val trafficData = TrafficData()
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
@@ -2,11 +2,14 @@ package com.mogo.eagle.core.function.v2x.trafficlight.core

 import android.content.Context
 import android.os.Handler
+import android.util.Log
 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.core.function.v2x.trafficlight.TrafficLightHMIManager
 import perception.TrafficLightOuterClass
@@ -17,30 +20,36 @@ 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
        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
        //注册监听AI云进入路口
        CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
        //注册监听红绿灯请求失败
-        CallerTrafficLightListenerManager.registerTrafficRequestErrorListener(TAG,this)
+        CallerTrafficLightListenerManager.registerTrafficRequestErrorListener(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.registerObuTrafficLightListener(TAG, this)
    }

    /**
@@ -48,46 +57,48 @@ 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 -> {}
+                        }
                    }
-                }

+                }
            }
        }
    }
@@ -96,17 +107,20 @@ 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
     */
    override fun onEnterCrossRoad(enter: Boolean) {
-        if(!enter){
+        if (!enter) {
            Handler().postDelayed({
                hasAiLightStatus = false
+                hasObuLightStatus = false
            }, 5000)
        }
    }
@@ -118,8 +132,17 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
        hasAiLightStatus = false
    }

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

-    fun destroy(){
+    fun destroy() {
        //取消注册监听AI云获取红绿灯状态
        CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
        //取消注册监听工控机感知红绿灯