From ccfe06f0bf52b8f7aaedf2fdc5b5d4f455577f2b Mon Sep 17 00:00:00 2001
From: renwj <renwenjie@zhidaoauto.com>
Date: Wed, 17 Jul 2024 19:37:58 +0800
Subject: [PATCH] =?UTF-8?q?[6.5.0][=E9=81=93=E8=B7=AF=E4=BA=8B=E4=BB=B6]?=
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---
 .../biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt      | 28 +++++++++++--------
 1 file changed, 16 insertions(+), 12 deletions(-)

diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
index f9a38cd5e1..ecbfc30d95 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -81,7 +81,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                 Log.d("V2NIdentifyDrawer", "---callback -- drawShiGu --- 1 ---")
             }
             val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-            var filtered = events.filterIsInstance<TrackedObject>().filter { itx ->
+            val filtered = events.filterIsInstance<TrackedObject>().filter { itx ->
                 DrivingDirectionUtils.getDegreeOfCar2Poi(
                     car.longitude,
                     car.latitude,
@@ -104,15 +104,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
             } else {
                 Log.d("V2NIdentifyDrawer", "---callback -- drawShiGu --- 2 ---")
             }
-            val data = filtered
-            filtered = filtered.filter { itx ->
-                val trackedSourceList = itx.trackedSourceList
-                trackedSourceList.isNotEmpty() && trackedSourceList.find { it.source != 1 } != null
-            }
-            if (filtered.isEmpty()) {
-                V2XBizTrace.onAck(data, mapOf("shiGong-shiGu-filter-2" to "数据来源不对"), true)
-                return@Callback true
-            }
             filtered.forEach { itx ->
                 val id = itx.v2XUuid.ifEmpty { itx.uuid.toString() }
                 V2XBizTrace.onAck(itx, "filtered -> ${itx.type}")
@@ -484,16 +475,26 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
 
         override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
             super.onAutopilotIdentifyDataUpdate(trafficData)
-            val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 }
+            //source: 1 -> 感知数据； 2 -> 融合数据
+            var hit = false
+            val shiGong = trafficData?.filter { itx -> (itx.type == 501 || itx.type == 502) && itx.trackedSourceList.find { it.source != 1 } != null }
             if (!shiGong.isNullOrEmpty()) {
+                hit = true
                 drawShiGong(shiGong)
             }
-            val shiGu = trafficData?.filter { it.type == 13 }
+            val shiGu = trafficData?.filter { itx -> itx.type == 13  && itx.trackedSourceList.find { it.source != 1 } != null }
             if (!shiGu.isNullOrEmpty()) {
+                hit = true
                 drawShiGu(shiGu)
             }
+
+            if (!hit && trafficData?.find { it.type == 501 || it.type == 502 || it.type == 13 } != null) {
+                V2XBizTrace.onAck(trafficData, "感知类型-V2N", false)
+            }
         }
 
+
+
         override fun onAutopilotV2nCongestionEvent(header: Header, rsi: RSI_PB) {
             super.onAutopilotV2nCongestionEvent(header, rsi)
             V2XBizTrace.onAck("onAutopilotV2nCongestionEvent", rsi)
@@ -508,6 +509,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
     }
 
     private fun drawShiGong(events: List<TrackedObject>) {
+        V2XBizTrace.onAck(events,"onV2NShiGong", false)
         Log.d("V2NIdentifyDrawer", "---drawShiGong --- 1 ---:${events.size}, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
         if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
             Log.d("V2NIdentifyDrawer", "---drawShiGong --- 2 ---")
@@ -517,6 +519,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
     }
 
     private fun drawShiGu(events: List<TrackedObject>) {
+        V2XBizTrace.onAck(events,"onV2NShiGu", false)
         Log.d("V2NIdentifyDrawer", "---drawShiGu --- 1 ---:${events.size}, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
         if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
             handler.removeMessages(MSG_WHAT_DRAW_SHIGU)
@@ -525,6 +528,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
     }
 
     private fun drawYongDu(events: List<MogoV2X.RTEData_PB>) {
+        V2XBizTrace.onAck(events,"onV2NYongDu", false)
         Log.d("V2NIdentifyDrawer", "---drawYongDu --- 1 ---:${events.size}, [${FunctionBuildConfig.v2nMainSwitch}, ${FunctionBuildConfig.isNewV2NData}]")
         if (V2NCarTypeCheck.verifyCarType() && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
             handler.removeMessages(MSG_WHAT_DRAW_YONGDU)