[Change]

增加未知类型绘制开关按钮
增加未知类型计数

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

app/productFlavors/fPadLenovo.gradle

@@ -27,7 +27,7 @@ project.android.productFlavors {
         buildConfigField 'int', 'GPS_PROVIDER', "1"
 
         // 构建的应用身份类型，司机｜乘客
-        buildConfigField 'int', 'APP_IDENTITY_MODE', "0x02"
+        buildConfigField 'int', 'APP_IDENTITY_MODE', "0x00"
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.104\""
         // 构建的是否是演示（美化）模式

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

@@ -4,7 +4,6 @@ import android.Manifest.permission
 import android.content.Context
 import androidx.annotation.RequiresPermission
 import com.alibaba.android.arouter.facade.annotation.Route
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -17,6 +16,7 @@ import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusLi
 import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager
 import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
 import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -36,7 +36,7 @@ import java.util.concurrent.TimeUnit
  */
 @Route(path = MogoServicePaths.PATH_AUTO_PILOT)
 class MoGoAutopilotProvider :
-    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
+        IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener {
     private val TAG = "MoGoAutoPilotProvider"
     private var mContext: Context? = null
 
@@ -51,19 +51,17 @@ class MoGoAutopilotProvider :
         CupidLogUtils.setEnableLog(false)
         CupidLogUtils.setIsWriteLog(false)
         // TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
-        when (FunctionBuildConfig.appIdentityMode) {
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
-            0x00 -> // 司机
+            // 注册地图采集功能
-            {
+            CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
-                // 注册地图采集功能
+            // "192.168.1.102"
-                CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
+            val options = AdasOptions.Builder()
-                // "192.168.1.102"
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
-                val options = AdasOptions.Builder()
+                    .setIpcAssignIP(FunctionBuildConfig.adasConnectIP)
-                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
-                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                     .setClient(false)
                     .build()
 
-                AdasManager.getInstance().create(context, options)
+            AdasManager.getInstance().create(context, options)
 //                NSDNettyManager.getInstance().startNSDNettyServer(context, object : NettyServerListener<MogoProtocolMsg> {
 //                    override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
 //                        Logger.d(TAG, "Receive client data is:${msg?.toString()}")
@@ -89,18 +87,17 @@ class MoGoAutopilotProvider :
 //                        Logger.d(TAG, "onChannelDisConnect")
 //                    }
 //                })
-            }
+        } else {// 乘客
-            0x01 -> // 乘客
+            // 乘客端默认接收绘制全局路径+引导线
-            {
+            //FunctionBuildConfig.isDemoMode = true
-                // 乘客端默认接收绘制全局路径+引导线
+            //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
-                //FunctionBuildConfig.isDemoMode = true
+            // "192.168.1.103"
-                //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
+            val options = AdasOptions.Builder()
-                // "192.168.1.102"
+                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
-                val options = AdasOptions
+                    .setIpcAssignIP(FunctionBuildConfig.adasConnectIP)
-                    .Builder()
                     .setClient(true)
                     .build()
-                AdasManager.getInstance().create(context, options)
+            AdasManager.getInstance().create(context, options)
 //                NSDNettyManager.getInstance().searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, object : NettyClientListener<MogoProtocolMsg> {
 //                    override fun onMessageResponseClient(msg: MogoProtocolMsg?, sign: String?) {
 //                        Logger.d(TAG, "收到司机端的数据!")
@@ -121,22 +118,11 @@ class MoGoAutopilotProvider :
 //                        }
 //                    }
 //                })
-            }
-            //
-            else -> // 默认采用UDP寻址方式
-            {
-                val options = AdasOptions.Builder()
-                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
-                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
-                    .setClient(false)
-                    .build()
-                AdasManager.getInstance().create(context, options)
-            }
         }
         //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
         // 监听 adas 连接状态
         AdasManager.getInstance()
-            .setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
+                .setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
         // 监听ADAS-SDK获取到的工控机数据(乘客也需注册)
         AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
 //        // 司机端监听
@@ -240,7 +226,7 @@ class MoGoAutopilotProvider :
 
     override fun recordPackage(): Boolean {
         return AdasManager.getInstance()
-            .recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
+                .recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
     }
 
     override fun recordPackage(type: Int, id: Int): Boolean {

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

@@ -14,6 +14,7 @@ import com.mogo.eagle.core.data.autopilot.*
 import com.mogo.eagle.core.data.chain.ChainConstant
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.traffic.TrafficData
@@ -44,12 +45,7 @@ import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.MogoMap
 import com.mogo.map.uicontroller.VisualAngleMode
-import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_300
+import com.mogo.map.uicontroller.VisualAngleMode.*
-import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS
-import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP
-import com.mogo.map.uicontroller.VisualAngleMode.MODE_CLOSE_SIGHT
-import com.mogo.map.uicontroller.VisualAngleMode.MODE_LONG_SIGHT
-import com.mogo.map.uicontroller.VisualAngleMode.MODE_MEDIUM_SIGHT
 import com.mogo.module.common.MogoApisHandler
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
 import java.util.*
@@ -61,13 +57,13 @@ import java.util.*
  * 展示 本机、网络、工控机、OBU等状态信息，支持设置IP，等参数进行调试
  */
 class DebugSettingView @JvmOverloads constructor(
-    context: Context,
+        context: Context,
-    attrs: AttributeSet? = null,
+        attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
+        defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
-    IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
+        IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
-    IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
+        IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
-    IMoGoAutopilotPlanningListener {
+        IMoGoAutopilotPlanningListener {
 
     private val TAG = "DebugSettingView"
 
@@ -77,9 +73,12 @@ class DebugSettingView @JvmOverloads constructor(
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
     private var mAutoPilotCarStateInfo: AutopilotCarStateInfo? = null
 
-    // 感知识别数据个数
+    // 感知识别「已知类型」数据个数
     private var mIdentifyDataSize = 0
 
+    // 感知识别「未知类型」数据个数
+    private var mUnknownIdentifyDataSize = 0
+
     // 引导线点个数
     private var mTrajectoryInfoSize = 0
 
@@ -247,14 +246,14 @@ class DebugSettingView @JvmOverloads constructor(
 
         tvObuInfo.text = CallerObuListenerManager.getObuStatusInfoJsonString()
         tvAutopilotInfo.text =
-            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
+                CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
 
         // 绘制应用基本信息
         drawAppInfo()
 
         // 初始化OBU IP信息
         val ipAddress =
-            SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, "192.168.1.199")
+                SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, "192.168.1.199")
 
         etObuIP.setText(ipAddress)
         etObuIP.text?.let { etObuIP.setSelection(it.length) }
@@ -270,8 +269,8 @@ class DebugSettingView @JvmOverloads constructor(
 
         // 初始化工控机 IP信息
         val autoPilotIpAddress =
-            SharedPrefsMgr.getInstance(context)
+                SharedPrefsMgr.getInstance(context)
-                .getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP)
+                        .getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP)
 
         etAutopilotIP.setText(autoPilotIpAddress)
         etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) }
@@ -292,18 +291,18 @@ class DebugSettingView @JvmOverloads constructor(
 
         // 初始化 GSP数据源 数据
         rgGpsProvider.check(
-            when (FunctionBuildConfig.gpsProvider) {
+                when (FunctionBuildConfig.gpsProvider) {
-                0 -> {
+                    0 -> {
-                    R.id.rbGpsProviderAndroid
+                        R.id.rbGpsProviderAndroid
+                    }
+                    1 -> {
+                        R.id.rbGpsProviderRTK
+                    }
+                    2 -> {
+                        R.id.rbGpsProviderOBU
+                    }
+                    else -> R.id.rbGpsProviderAndroid
                 }
-                1 -> {
-                    R.id.rbGpsProviderRTK
-                }
-                2 -> {
-                    R.id.rbGpsProviderOBU
-                }
-                else -> R.id.rbGpsProviderAndroid
-            }
         )
         rgGpsProvider.setOnCheckedChangeListener { group, checkedId ->
             when (checkedId) {
@@ -325,6 +324,12 @@ class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isDrawIdentifyData = isChecked
         }
 
+        // 初始化 ADAS感知数据是否绘制 选择情况
+        tbIsDrawUnknownIdentifyData.isChecked = FunctionBuildConfig.isDrawUnknownIdentifyData
+        tbIsDrawUnknownIdentifyData.setOnCheckedChangeListener { buttonView, isChecked ->
+            FunctionBuildConfig.isDrawUnknownIdentifyData = isChecked
+        }
+
         // 初始化 OBU感知数据是否绘制 选择情况
         tbIsDrawOBUIdentifyData.isChecked = FunctionBuildConfig.isDrawObuIdentifyData
         tbIsDrawOBUIdentifyData.setOnCheckedChangeListener { buttonView, isChecked ->
@@ -385,7 +390,7 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         tbLogCatch.isChecked =
-            SharedPrefsMgr.getInstance(context).getBoolean(MoGoConfig.CATCH_LOG, false)
+                SharedPrefsMgr.getInstance(context).getBoolean(MoGoConfig.CATCH_LOG, false)
         tbLogCatch.setOnCheckedChangeListener { _, isChecked ->
             if (isChecked) {
                 val logCatchTime = etLogCatch.text.toString().toInt()
@@ -400,20 +405,20 @@ class DebugSettingView @JvmOverloads constructor(
             }
         }
         CallerDevaToolsListenerManager.registerDevaToolsLogCatchListener(TAG,
-            object : IMoGoDevaToolsListener {
+                object : IMoGoDevaToolsListener {
-                override fun onLogCatchClose() {
+                    override fun onLogCatchClose() {
-                    super.onLogCatchClose()
+                        super.onLogCatchClose()
-                    tbLogCatch.isChecked = false
+                        tbLogCatch.isChecked = false
-                }
+                    }
 
-                override fun onLogCatch(lineLog: String) {
+                    override fun onLogCatch(lineLog: String) {
-                    logInfoView?.let {
+                        logInfoView?.let {
-                        if (logViewAttach) {
+                            if (logViewAttach) {
-                            it.onLogCatch(lineLog)
+                                it.onLogCatch(lineLog)
+                            }
                         }
                     }
-                }
+                })
-            })
         tbLogDebugView.setOnCheckedChangeListener { _, isChecked ->
             if (isChecked) {
                 logInfoView = LogInfoView()
@@ -476,18 +481,20 @@ class DebugSettingView @JvmOverloads constructor(
         tvAutopilotInfo.text = GsonUtils.toJson(mAutoPilotStatusInfo)
 
         tvCarInfo.text =
-            "GPS时间：${mAutoPilotCarStateInfo?.values?.satelliteTime}\n" +
+                "GPS时间：${mAutoPilotCarStateInfo?.values?.satelliteTime}\n" +
-                    "自车经纬度：\n${mAutoPilotCarStateInfo?.values?.lon}\n${mAutoPilotCarStateInfo?.values?.lat}\n"
+                        "自车经纬度：\n${mAutoPilotCarStateInfo?.values?.lon}\n${mAutoPilotCarStateInfo?.values?.lat}\n"
 
         tvIdentifyInfo.text =
-            "感知数据个数：${mIdentifyDataSize}"
+                "「有效类型」感知数据个数：${mIdentifyDataSize}\n" +
+                        "「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n"
         tvTrajectoryInfoSize.text =
-            "引导线点个数：${mTrajectoryInfoSize}"
+                "引导线点个数：${mTrajectoryInfoSize}"
         tvRouteInfoSize.text =
-            "全局路径规划点个数：${mRouteInfoSize}"
+                "全局路径规划点个数：${mRouteInfoSize}"
 
         // 用完之后重制为0，防止节点回掉突然没数据，导致页面显示还是之前的数据情况
         mIdentifyDataSize = 0
+        mUnknownIdentifyDataSize = 0
         mTrajectoryInfoSize = 0
         mRouteInfoSize = 0
     }
@@ -534,7 +541,17 @@ class DebugSettingView @JvmOverloads constructor(
     }
 
     override fun onAutopilotIdentifyDataUpdate(trafficData: ArrayList<TrafficData>?) {
-        mIdentifyDataSize = trafficData?.size ?: 0
+        // 重制数据
+        mIdentifyDataSize = 0
+        mUnknownIdentifyDataSize = 0
+        // 遍历计数
+        trafficData?.forEach {
+            if (it.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
+                mUnknownIdentifyDataSize++
+            } else {
+                mIdentifyDataSize++
+            }
+        }
     }
 
     override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {

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

@@ -274,6 +274,16 @@
                         android:textOn="关闭鹰眼感知"
                         android:textSize="@dimen/dp_24" />
 
+                    <ToggleButton
+                        android:id="@+id/tbIsDrawUnknownIdentifyData"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:textOff="显示「未知类型」感知"
+                        android:textOn="关闭「未知类型」感知"
+                        android:textSize="@dimen/dp_24" />
+
                     <ToggleButton
                         android:id="@+id/tbIsDrawOBUIdentifyData"
                         android:layout_width="wrap_content"

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -59,6 +59,15 @@ object FunctionBuildConfig {
     @JvmField
     var isDrawIdentifyData = true
 
+    /**
+     * 地图是否绘制Adas识别回调的「未知类型」Marker
+     * true - 绘制
+     * false - 不绘制
+     */
+    @Volatile
+    @JvmField
+    var isDrawUnknownIdentifyData = false
+
     /**
      * 地图是否绘制 OBU 识别回调的Marker
      * true - 绘制

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java

@@ -3,6 +3,7 @@ package com.mogo.module.common.drawer;
 import android.content.Context;
 
 import com.mogo.commons.AbsMogoApplication;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -83,7 +84,8 @@ public class IdentifyDataDrawer {
 
         for (TrafficData trafficData : resultList) {
             // 过滤掉未知感知数据
-            if (trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
+            if (!FunctionBuildConfig.isDrawUnknownIdentifyData &&
+                    trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI) {
                 //Logger.w(TAG, "未知感知类型数据，丢弃，不渲染");
                 continue;
             }