Merge branch 'dev_robotaxi-d-app-module_2132_221223_2.13.2' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_2132_221223_2.13.2

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -632,6 +632,15 @@ class DebugSettingView @JvmOverloads constructor(
             }
         }
 
+        tbDrawAiCloudFusion.isChecked = FunctionBuildConfig.isDrawAiCloudFusion
+        //云端感知绘制
+        tbDrawAiCloudFusion.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isDrawAiCloudFusion = isChecked
+            if (!FunctionBuildConfig.isDrawAiCloudFusion) {
+                tbDrawAiCloudFusion.isChecked = false
+            }
+        }
+
         //重启工控机所有节点
         btnIpcReboot.onClick {
             CallerAutoPilotManager.sendIpcReboot()

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

@@ -5,6 +5,7 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.map.MogoMapUIController
 import com.mogo.map.uicontroller.VisualAngleMode
@@ -34,12 +35,14 @@ class PerspectiveSwitchView @JvmOverloads constructor(
 //                .visibleAllMarkers()
             MogoMapUIController.getInstance()
                 .changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+            CallerMapUIServiceManager.getMapUIController()?.setLockMode(true)
             textSwitch.setText(R.string.module_map_model_normal)
         } else if (MogoMapUIController.getInstance().currentMapVisualAngle.isMediumSight) {
 //            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
 //                .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS)
             MogoMapUIController.getInstance()
                 .changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
+            CallerMapUIServiceManager.getMapUIController()?.setLockMode(false)
             textSwitch.setText(R.string.module_map_model_faster)
         } else {
 //            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java

@@ -17,7 +17,6 @@ import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.MogoModule;
 import com.mogo.commons.module.MogoModulePaths;
-import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
@@ -65,21 +64,23 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         }
         start = System.currentTimeMillis();
         connectAmiIp();
-        initOverviewDb();
         // Crash 日志收集
         initCrashConfig();
         initLogConfig();
         initTipToast();
         initModules();
-        if (DebugConfig.isDebug()) {
-            initKoom();
-        }
         //查询是否有版本的更新
         queryAppUpgrade();
-        clearMessageBoxTable();
-        checkMonitorDb();
+        if (ProcessUtils.isMainProcess(this)) {
+            initOverviewDb();
+            if (DebugConfig.isDebug()) {
+                initKoom();
+            }
+            clearMessageBoxTable();
+            checkMonitorDb();
+            CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
+        }
         upgradeProgressListener();
-        CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
     }
 
     @Override

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml

@@ -254,6 +254,18 @@
                 android:textOn="关闭车端V2N预警"
                 android:textSize="@dimen/dp_24" />
 
+            <ToggleButton
+                android:id="@+id/tbDrawAiCloudFusion"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启云端感知绘制"
+                android:textOn="关闭云端感知绘制"
+                android:textSize="@dimen/dp_24" />
+
             <ToggleButton
                 android:id="@+id/tbMojie"
                 android:layout_width="match_parent"

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt

@@ -1,17 +1,19 @@
 package com.mogo.eagle.core.function.business.ai
 
 import android.content.Context
-import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener
-import com.mogo.cloud.socket.SocketManager
-import com.mogo.cloud.socket.entity.SocketDownData.SocketDownDataProto
+import com.mogo.aicloud.services.socket.IMogoOnMessageListener
+import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
+import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.module.common.MogoApisHandler
-import com.mogo.realtime.constant.RealTimeConstant
+import mogo.yycp.api.proto.SocketDownData
 
 class AiCloudIdentifyDataManager : IMogoMapListener {
 
@@ -32,16 +34,20 @@ class AiCloudIdentifyDataManager : IMogoMapListener {
 
     fun init(mContext: Context) {
         MogoApisHandler.getInstance().apis.registerCenterApi.registerMogoMapListener(TAG, this)
-        SocketManager.getInstance()
+        MogoAiCloudSocketManager.getInstance(mContext)
             .registerOnMessageListener(
-                RealTimeConstant.LOW_FREQUENCY_CHANNEL_ID,
-                object : IMogoCloudSocketOnMessageListener<SocketDownDataProto> {
-                    override fun target(msgType: Int): Class<SocketDownDataProto> {
-                        return SocketDownDataProto::class.java
+                0x040003, //低频数据
+                object : IMogoOnMessageListener<SocketDownData.SocketDownDataProto> {
+                    override fun target(): Class<SocketDownData.SocketDownDataProto> {
+                        return SocketDownData.SocketDownDataProto::class.java
                     }
 
-                    override fun onMsgReceived(msgType: Int, obj: SocketDownDataProto?) {
+                    override fun onMsgReceived(obj: SocketDownData.SocketDownDataProto?) {
                         CallerLogger.d("$M_MAP$TAG", "SocketDownDataProto obj : $obj")
+                        if(!FunctionBuildConfig.isDrawAiCloudFusion){
+                            MapIdentifySubscriber.instance.clearAiCloudRoma()
+                            return
+                        }
                         obj?.let {
                             obj.data?.let {
                                 if (showAiCloud) {
@@ -74,9 +80,14 @@ class AiCloudIdentifyDataManager : IMogoMapListener {
 
     override fun onMapVisualAngleChanged(visualAngleMode: VisualAngleMode) {
         super.onMapVisualAngleChanged(visualAngleMode)
-        showAiCloud = when {
-            visualAngleMode.isLongSight -> true
-            else -> false
+        when {
+            visualAngleMode.isLongSight -> {
+                showAiCloud = true
+            }
+            else -> {
+                showAiCloud = false
+                CallerMapIdentifyManager.clearAiCloudRoma()
+            }
         }
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt

@@ -1,9 +1,9 @@
 package com.mogo.eagle.core.function.business.identify
 
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.traffic.TrafficData
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 
 interface Identify {
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.annotation.SuppressLint
 import androidx.collection.ArraySet
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.traffic.TrafficData
@@ -10,6 +9,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.mogo.map.MogoMarkerManager
 import mogo.telematics.pad.MessagePad.PlanningObject
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 import java.util.concurrent.ConcurrentHashMap
 
 class IdentifyAiCloudDataDrawer : Identify {
@@ -62,7 +62,7 @@ class IdentifyAiCloudDataDrawer : Identify {
             it.remove()
             mMarkersCaches.remove(key)
             MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .removeMarker(key)
+                .removeMarker(key.hashCode().toString())
         }
 
         val filterList = filterTrafficData(resultList)
@@ -86,15 +86,19 @@ class IdentifyAiCloudDataDrawer : Identify {
             val uuid = "" + data.uuid
             mMarkersCaches[uuid] = data
             trafficDataUuidList.add(uuid)
+            mFilterTrafficData[uuid] = data
         }
         return mFilterTrafficData
     }
 
     @SuppressLint("NewApi")
     override fun clearAiMarker() {
+        if(trafficDataUuidList.size == 0){
+            return
+        }
         for (uuid in trafficDataUuidList) {
             MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .removeMarker(uuid)
+                .removeMarker(uuid.hashCode().toString())
         }
         trafficDataUuidList.clear()
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.os.Handler
 import android.os.Message
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
@@ -10,6 +9,7 @@ import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 
 object IdentifyFactory : Identify, IMoGoObuStatusListener {
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
-import com.mogo.cloud.socket.entity.SocketDownData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
@@ -13,6 +12,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 
 /**
  * 订阅感知数据的订阅者

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/remote/V2XEventResult.kt

@@ -38,8 +38,8 @@ data class V2XEvent(
     @SerializedName("radius")
     var radius: Double,
 
-    @SerializedName("type")
-    var type: Int
+    @SerializedName("poiType")
+    var poiType: String?
 )
 
 @Keep

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java

@@ -271,7 +271,7 @@ public class AMapCustomView
                 LatLng latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, center.getLat(), center.getLon());
                 markerOption.position(latLng);
                 markerOption.anchor(0.13f, 1f);
-                markerOption.icon(BitmapDescriptorFactory.fromBitmap(getV2XBitmap()));
+                markerOption.icon(BitmapDescriptorFactory.fromBitmap(getV2XBitmap(event.getPoiType())));
                 markerOptionsList.add(markerOption);
             }
         }
@@ -284,8 +284,8 @@ public class AMapCustomView
         currMarkerList = mAMap.addMarkers(markerOptionsList, false);
     }
 
-    private Bitmap getV2XBitmap() {
-        V2XMarkerView marker = new V2XMarkerView(getContext());
+    private Bitmap getV2XBitmap(String poiType) {
+        V2XMarkerView marker = new V2XMarkerView(getContext(), null, 0, poiType);
         marker.measure(View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 229), View.MeasureSpec.EXACTLY),
                 View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 96), View.MeasureSpec.EXACTLY));
         marker.layout(0, 0, marker.getMeasuredWidth(), marker.getMeasuredHeight());

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt

@@ -3,14 +3,16 @@ package com.mogo.eagle.core.function.smp
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.function.map.R
-import kotlinx.android.synthetic.main.view_maker_with_count.view.*
 
 class V2XMarkerView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
+    defStyleAttr: Int = 0,
+    private val poiType: String? = ""
 ) : ConstraintLayout (
     context,
     attrs,
@@ -19,5 +21,33 @@ class V2XMarkerView @JvmOverloads constructor(
 
     init {
         LayoutInflater.from(context).inflate(R.layout.layout_v2x_maker, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        val iconView = findViewById<ImageView>(R.id.ivIcon)
+        val contentView = findViewById<TextView>(R.id.tvContent)
+        when (poiType) {
+            "10006" -> {
+                iconView.setBackgroundResource(R.drawable.icon_small_v2x_road_construction)
+                contentView.text = "道路施工"
+            }
+            "10007" -> {
+                iconView.setBackgroundResource(R.drawable.icon_v2x_road_congestion)
+                contentView.text = "道路拥堵"
+            }
+            "10032" -> {
+                iconView.setBackgroundResource(R.drawable.icon_v2x_road_accidents)
+                contentView.text = "道路事故"
+            }
+            "10025" -> {
+                iconView.setBackgroundResource(R.drawable.icon_v2x_obstacle)
+                contentView.text = "障碍车辆"
+            }
+//            "10031" -> {
+//                iconView.setBackgroundResource(R.drawable.icon_small_v2x_road_construction)
+//                contentView.text = "弱势预警"
+//            }
+        }
     }
 }

core/function-impl/mogo-core-function-map/src/main/res/layout/layout_v2x_maker.xml

@@ -19,7 +19,7 @@
         />
 
     <TextView
-        android:id="@+id/tv"
+        android:id="@+id/tvContent"
         android:layout_width="119dp"
         android:layout_height="35dp"
         android:text="道路施工"

core/function-impl/mogo-core-function-msgbox/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.msgbox
 import android.content.Context
 import android.os.Looper
 import com.mogo.eagle.core.data.msgbox.*
-import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
 import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb
@@ -12,6 +11,7 @@ import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.Utils
 import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
 
@@ -156,6 +156,7 @@ object DataManager {
     }
 
     private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> = withContext(Dispatchers.IO) {
+        delay(2000)
         return@withContext MsgBoxDb.getDb(context)
             .monitorDao()
             .getAllCachedMessages()

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

@@ -451,15 +451,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
         }
     }
 
-    @SuppressLint("NewApi")
-    @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_CLOUD_V2N,
-        linkCode = CHAIN_LINK_CLOUD,
-        endpoint = TracingConstants.Endpoint.PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_V2N,
-        paramIndexes = [0],
-        clientPkFileName = "sn"
-    )
     override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
         super.onAutopilotIdentifyPlanningObj(planningObjects)
         if(!FunctionBuildConfig.isV2NFromCar){