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[2.13.2] 修改红绿灯优先级显示

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lixiaopeng
2023-01-11 11:56:38 +08:00
parent 1d755b0325
commit c57e9d86e8
9 changed files with 163 additions and 57 deletions
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117
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
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@@ -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