Merge remote-tracking branch 'origin/dev_robotaxi-d-app-module_280_220608_2.8.0' into dev_robotaxi-d-app-module_280_220608_2.8.0

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt

@@ -259,7 +259,8 @@ class MoGoAutopilotProvider :
             trafficLightResult.laneNo,
             trafficLightResult.arrowNo,
             trafficLightResult.flashYellow,
-            trafficLightResult.toTrafficLightDetail()
+            trafficLightResult.toTrafficLightDetail(),
+            trafficLightResult.timeStamp
         )
     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt

@@ -6,16 +6,18 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.widget.LinearLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import kotlinx.android.synthetic.main.view_version_name.view.*
 
 /**
  * @author XuXinChao
- * @description APP版本号+MAP版本号水印显示
+ * @description APP版本号+MAP版本号水印显示(只在司机屏展示)
  * @since: 2022/5/20
  */
 class VersionNameView @JvmOverloads constructor(
@@ -36,8 +38,11 @@ class VersionNameView @JvmOverloads constructor(
     }
 
     private fun initView(){
-        showCurrentPadVersion()
-        showCurrentMapVersion()
+        //版本水印只在司机端展示
+        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+            showCurrentPadVersion()
+            showCurrentMapVersion()
+        }
     }
 
     /**
@@ -66,12 +71,18 @@ class VersionNameView @JvmOverloads constructor(
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        //版本水印只在司机端展示
+        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+            CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        }
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
-        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        //版本水印只在司机端展示
+        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+            CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        }
     }
 
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt

@@ -64,10 +64,7 @@ import com.mogo.service.statusmanager.StatusDescriptor.SEEK_HELPING
 import com.mogo.v2x.V2XManager
 import com.mogo.v2x.callback.IV2XCallback
 import com.mogo.v2x.config.V2XConfig
-import com.mogo.v2x.data.V2XAdvanceWarning
-import com.mogo.v2x.data.V2XMarkerCardResult
-import com.mogo.v2x.data.V2XOptimalRoute
-import com.mogo.v2x.data.V2XWarningTarget
+import com.mogo.v2x.data.*
 import com.mogo.v2x.event.V2XEvent
 import com.shuyu.gsyvideoplayer.GSYVideoManager
 import com.shuyu.gsyvideoplayer.cache.CacheFactory
@@ -78,6 +75,7 @@ import com.shuyu.gsyvideoplayer.player.PlayerFactory
 import com.shuyu.gsyvideoplayer.utils.GSYVideoType
 import kotlinx.coroutines.*
 import kotlinx.coroutines.android.asCoroutineDispatcher
+import roadwork.Road.RW_PB
 import tv.danmaku.ijk.media.player.IjkMediaPlayer
 import java.util.concurrent.TimeUnit
 import java.util.concurrent.atomic.AtomicBoolean
@@ -452,9 +450,27 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
             is V2XEvent.Warning -> {
                 handleWarningTargetEvent(event.data)
             }
+            is V2XEvent.RoadAI -> {
+                handleRoadMarkerEvent(event.data.toRoadMarker)
+            }
         }
     }
 
+    private val RW_PB.toRoadMarker: V2XMarkerCardResult
+        get() = V2XMarkerCardResult().also { l1 ->
+            l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
+                l2.add(V2XMarkerExploreWay().also { l3 ->
+                    l3.poiType = this.roadwork?.poiType?.toString()
+                    l3.generateTime = this.roadwork?.detectTime ?: 0L
+                    l3.location = V2XMarkerLocation().also { l4 ->
+                        l4.lat = this.roadwork?.center?.point?.lat ?: 0.0
+                        l4.lon = this.roadwork?.center?.point?.lon ?: 0.0
+                        l4.angle = -1.0
+                    }
+                })
+            }
+        }
+
     private fun handleWarningTargetEvent(data: V2XWarningTarget) {
         val v2xMessageEntity = V2XMessageEntity<V2XWarningTarget>()
         v2xMessageEntity.type = V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java

@@ -48,7 +48,8 @@ public class V2XAlarmServer {
                 // 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
                 for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
                     // 0、道路事件必须有朝向，角度>=0;
-                    if (v2XRoadEventEntity.getLocation().getAngle() >= 0) {
+                    boolean ignoreAngle = v2XRoadEventEntity.getLocation().getAngle() < 0;
+                    if (v2XRoadEventEntity.getLocation().getAngle() >= 0 || ignoreAngle) {
                         // 计算车辆距离指定气泡的距离
                         MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
                         // 1、判断是否到达了触发距离,20 ~ 500,
@@ -63,7 +64,7 @@ public class V2XAlarmServer {
                             double carBearing = currentLocation.getBearing();
                             double eventBearing = eventLocation.getAngle();
                             double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
-                            if (diffAngle < 20) {
+                            if (ignoreAngle || diffAngle < 20) {
                                 // 3、计算当前车辆行驶方向与事件位置之间夹角《20度，保证道路事件在车辆前方
                                 double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
                                         currentLocation.getLongitude(),
@@ -72,7 +73,7 @@ public class V2XAlarmServer {
                                         eventLocation.getLat(),
                                         (int) currentLocation.getBearing()
                                 );
-                                if (0 <= eventAngle && eventAngle <= 20) {
+                                if (ignoreAngle || 0 <= eventAngle && eventAngle <= 20) {
                                     // 判断是否已经提示过道路事件
                                     boolean isAlreadyAlert = false;
                                     String lastTime = mAlertRoadEventList.get(v2XRoadEventEntity);