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Merge branch 'dev_robotaxi-d_230809_6.0.0' into 6.0.0merge2master

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# Conflicts:
#	OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
This commit is contained in:
yangyakun
2023-09-11 17:43:17 +08:00
parent ea468d9eb1 1e0c42d15a
commit e53ee5e6ca
3672 changed files with 38961 additions and 14144 deletions
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326
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
View File

@@ -7,6 +7,7 @@ import bag_manager.BagManagerOuterClass
import chassis.SpecialVehicleTaskCmdOuterClass
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.commons.debug.DebugConfig
import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
import com.mogo.eagle.core.data.autopilot.toRouteInfo
@@ -17,6 +18,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_SEND
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_MULTI_CONNECT
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_INIT_STATUS
@@ -96,14 +98,15 @@ class MoGoAutopilotControlProvider :
override fun init(context: Context) {
CallerLogger.i("$M_D_C$TAG", "初始化工控机连接……")
mContext = context
// 初始化ADAS 域控制器
CupidLogUtils.setEnableLog(false)
msgHandler = TeleMsgHandler()
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
runCatching {
// 初始化ADAS 域控制器
CupidLogUtils.setEnableLog(false)
msgHandler = TeleMsgHandler()
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
// 注册地图采集功能
CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
// 配置默认关闭的连接topic
// 配置默认关闭的连接topic
// val messageTypes: MutableSet<MessageType> = HashSet()
// messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD)
// val subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
@@ -111,125 +114,134 @@ class MoGoAutopilotControlProvider :
// .setType(Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
// .setMessageTypes(messageTypes).build()
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
// "192.168.1.102"
val options = AdasOptions.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
.setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
.setClient(false)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
// .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
.build()
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
NettyServerListener<MogoProtocolMsg> {
override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
msgHandler.handleMsgFromClient(msg, channel)
}
override fun onStartServer() {
ToastUtils.showShort("司机端服务启动成功!")
if (timer == null) {
timer = Timer()
AdasManager.getInstance().create(context, options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
NettyServerListener<MogoProtocolMsg> {
override fun onMessageResponseServer(msg: MogoProtocolMsg?, channel: Channel?) {
msgHandler.handleMsgFromClient(msg, channel)
}
// 10s同步一次数据到乘客屏
timer!!.schedule(object : TimerTask() {
override fun run() {
// 同步是否开启美化模式
setDemoMode(FunctionBuildConfig.isDemoMode)
setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
msgHandler.synMsgToAllClients()
override fun onStartServer() {
ToastUtils.showShort("司机端服务启动成功!")
if (timer == null) {
timer = Timer()
}
}, 1000, 10000)
invokeNettyConnResult("司机端服务启动成功!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(true)
}
override fun onStopServer() {
ToastUtils.showLong("司机端服务停止!")
timer?.cancel()
timer = null
invokeNettyConnResult("司机端服务停止!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(false)
}
override fun onChannelConnect(channel: Channel?) {
msgHandler.handleClientConn2Server(channel)
}
override fun onChannelDisConnect(channel: Channel?) {
CallerLogger.d("$M_D_C$TAG", "onChannelDisConnect")
}
override fun onReceiveClientSign(channel: Channel?, sn: String?) {
}
}, MoGoAiCloudClientConfig.getInstance().sn)
} else {
NSDNettyManager.getInstance()
.searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn,
AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode),
object : NettyClientListener<MogoProtocolMsg> {
override fun onMessageResponseClient(
msg: MogoProtocolMsg?,
sign: String?,
channel: Channel
) {
// 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端
msgHandler.handleMsgFromServer(msg, channel)
}
override fun onClientStatusConnectChanged(
statusCode: Int,
sign: String?,
channel: Channel
) {
msgHandler.handleClientConnStatus(statusCode, sign, channel)
}
})
}
msgHandler.setListener(object : EventListener {
override fun connectDevice(isSupportMulti: Boolean) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
if (!isInit) {
isInit = true
// 转发工控机数据给乘客屏
listenDeviceData()
// 10s同步一次数据到乘客屏
timer!!.schedule(object : TimerTask() {
override fun run() {
// 同步是否开启美化模式
setDemoMode(FunctionBuildConfig.isDemoMode)
setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
msgHandler.synMsgToAllClients()
}
}, 1000, 10000)
invokeNettyConnResult("司机端服务启动成功!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(true)
}
} else {
if (!isInit) {
isInit = true
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect()
} else {
val options = AdasOptions
.Builder()
.setClient(true)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance()
.create(options, MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 接收司机屏发过来的感知、定位等数据
listenDeviceData()
override fun onStopServer() {
ToastUtils.showLong("司机端服务停止!")
timer?.cancel()
timer = null
invokeNettyConnResult("司机端服务停止!")
CallerTelematicStatusListenerManager.invokeServerStatusChanged(false)
}
override fun onChannelConnect(channel: Channel?) {
msgHandler.handleClientConn2Server(channel)
}
override fun onChannelDisConnect(channel: Channel?) {
CallerLogger.d("$M_D_C$TAG", "onChannelDisConnect")
}
override fun onReceiveClientSign(channel: Channel?, sn: String?) {
sn?.let {
invokeNettyConnResult("连接成功的乘客屏sn为:$it")
}
}
}, MoGoAiCloudClientConfig.getInstance().sn)
} else {
NSDNettyManager.getInstance()
.searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn,
AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode),
object : NettyClientListener<MogoProtocolMsg> {
override fun onMessageResponseClient(
msg: MogoProtocolMsg?,
sign: String?,
channel: Channel
) {
// 乘客端收到adas数据直接解析，后续分发解析后的数据流程同司机端
msgHandler.handleMsgFromServer(msg, channel)
}
override fun onClientStatusConnectChanged(
statusCode: Int,
sign: String?,
channel: Channel
) {
msgHandler.handleClientConnStatus(statusCode, sign, channel)
}
})
}
msgHandler.setListener(object : EventListener {
override fun connectDevice(isSupportMulti: Boolean) {
if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
if (!isInit) {
isInit = true
// 转发工控机数据给乘客屏
listenDeviceData()
}
} else {
if (!isInit) {
isInit = true
UiThreadHandler.post {
if (isSupportMulti) {
// 直连工控机
directConnect(context)
} else {
val options = AdasOptions
.Builder()
.setClient(true)
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance()
.create(context, options, MoGoAdasMsgConnectStatusListenerImpl())
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
// 接收司机屏发过来的感知、定位等数据
listenDeviceData()
}
}
}
}
}
})
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerLogger.i("$M_D_C$TAG", "initServer……")
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
}.onFailure { throwable ->
if (DebugConfig.isDebug()) {
ToastUtils.showLong("AutoPilot出现异常，请立即处理!")
}
})
CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
CallerLogger.i("$M_D_C$TAG", "initServer……")
// 同步数据给工控机的服务
AsyncDataToAutopilotServer.INSTANCE.initServer()
throwable.printStackTrace()
}
}
private fun directConnect() {
private fun directConnect(context: Context) {
val options = AdasOptions
.Builder()
.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
@@ -237,7 +249,7 @@ class MoGoAutopilotControlProvider :
.setClient(false)// 乘客端直连工控机改为false
.setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
.build()
AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
AdasManager.getInstance().create(context, options, MoGoAdasMsgConnectStatusListenerImpl())
//////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
// 监听ADAS-SDK获取到的工控机数据
AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
@@ -406,6 +418,10 @@ class MoGoAutopilotControlProvider :
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
}
override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType)
}
override fun cancelAutoPilot() {
if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
@@ -537,6 +553,12 @@ class MoGoAutopilotControlProvider :
* isEnable = true 开启
* isEnable = false 关闭
*/
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_SEND,
paramIndexes = [0]
)
override fun setIPCDemoMode(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().sendDemoModeReq(1)
@@ -545,11 +567,12 @@ class MoGoAutopilotControlProvider :
}
}
/**
* 雨天模式
* isEnable = true 开启
* isEnable = false 关闭
*/
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_SEND,
paramIndexes = [0]
)
override fun setRainMode(isEnable: Boolean) {
if (isEnable) {
AdasManager.getInstance().sendRainModeReq(1)
@@ -564,6 +587,12 @@ class MoGoAutopilotControlProvider :
* isEnable = false 关闭
* @return boolean
*/
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_SEND,
paramIndexes = [0]
)
override fun sendDetouring(isEnable: Boolean): Boolean {
return if (isEnable) {
AdasManager.getInstance().sendDetouring(1)
@@ -595,6 +624,34 @@ class MoGoAutopilotControlProvider :
}
}
/**
* 故障减速停车策路开关
* isEnable = true 使用故障减速停车策略
* isEnable = false 关闭故障减速停车策略
* @return boolean
*/
override fun sendBreakdownSlowDown(isEnable: Boolean): Boolean {
return if (isEnable) {
AdasManager.getInstance().sendBreakdownSlowDown(1)
} else {
AdasManager.getInstance().sendBreakdownSlowDown(0)
}
}
/**
* 融合模式
*
* @param cmd 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1
* @return boolean
*/
override fun sendFusionMode(cmd: Int): Boolean {
return AdasManager.getInstance().sendFusionMode(cmd)
}
override fun sendSetParamReq(param: Map<AdasConstants.MapSystemParamType, Any>): Boolean {
return AdasManager.getInstance().sendSetParamReq(param)
}
/**
* 获取全部参数
* 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
@@ -612,8 +669,8 @@ class MoGoAutopilotControlProvider :
* @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
* @return boolean
*/
override fun sendGetParamReq(paramType: AdasConstants.MapSystemParamType): Boolean {
return AdasManager.getInstance().sendGetParamReq(paramType)
override fun sendGetParamReq(vararg paramType: AdasConstants.MapSystemParamType): Boolean {
return AdasManager.getInstance().sendGetParamReq(*paramType)
}
/**
@@ -730,13 +787,34 @@ class MoGoAutopilotControlProvider :
}
/**
* 控制V2N数据给车端PnC
* @param switchCmd true为发给PnC，false为不发给PnC
* 控制V2I进PnC
*
* @param switchCmd true：发给Pnc和鹰眼，false：不发给PnC和鹰眼
* @return boolean
*/
override fun sendV2iToPncCmd(switchCmd: Boolean) {
AdasManager.getInstance().sendV2iToPncCmd(switchCmd)
}
/**
* 控制V2N进PnC
*
* @param switchCmd true：发给PnC，false：不发给PnC
* @return boolean
*/
override fun sendV2nToPncCmd(switchCmd: Boolean) {
AdasManager.getInstance().sendV2nToPncCmd(switchCmd)
}
/**
* 盲区数据开关
*
* @param switchCmd 数据开关
* @return boolean
*/
override fun sendBlindAreaCmd(switchCmd: Boolean) {
AdasManager.getInstance().sendBlindAreaCmd(switchCmd)
}
/**
* 向左变道
*/

143
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -7,6 +7,7 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.config.HdMapBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ABILITY
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_RECORD
@@ -30,6 +31,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeSystemStatus
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotDockerInfo
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
@@ -55,6 +57,7 @@ import com.zhidao.support.adas.high.OnAdasListener
import com.zhjt.mogo.adas.data.bean.AdasParam
import com.zhidao.support.adas.high.common.ProtocolStatus
import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -75,6 +78,7 @@ import perception.TrafficLightOuterClass
import planning.RoboSweeperTaskIndexOuterClass
import prediction.Prediction
import record_cache.RecordPanelOuterClass
import system_master.SsmInfo
import system_master.SystemStatusInfo
/**
@@ -171,6 +175,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
//刹车
CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
//车门
CallerChassisDoorStateListenerManager.invokeAutopilotDoorState(vehicleState.doorStateList)
//电量
if (vehicleState.hasBmsSoc()) {
CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(
@@ -323,7 +329,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
//todo 新增稳定设备类型需要添加，目的避免在nuc设备上使用此类功能
private val limit = DeviceUtils.isLenovoModel() || DeviceUtils.isEB5Model()
override fun onPointCloud(header: MessagePad.Header, pointCloud: ByteArray?) {
if(limit){
if (limit) {
//点云数据透传
CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
}
@@ -436,6 +442,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokeAutopilotStatusRespByQuery(statusInfo)
}
override fun onSystemStatus(header: MessagePad.Header?, statusInf: SsmInfo.SsmStatusInf?) {
invokeSystemStatus(statusInf)
}
/**
* 数据采集配置应答
*/
@@ -564,8 +574,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param taskInfo 数据
*/
override fun onSweeperFutianCloudTask(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskInfo: SweeperTask.TaskInfo?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTask(messageType, reqNo, sysTime, taskInfo)
override fun onSweeperFutianCloudTask(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskInfo: SweeperTask.TaskInfo?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTask(
messageType,
reqNo,
sysTime,
taskInfo
)
}
/**
@@ -577,8 +598,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param taskConfirm 数据
*/
override fun onSweeperFutianCloudTaskConfirm(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskConfirm: SweeperTaskConfirm.TaskConfirm?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskConfirm(messageType, reqNo, sysTime, taskConfirm)
override fun onSweeperFutianCloudTaskConfirm(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskConfirm: SweeperTaskConfirm.TaskConfirm?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskConfirm(
messageType,
reqNo,
sysTime,
taskConfirm
)
}
/**
@@ -590,8 +622,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param taskStatusPush 数据
*/
override fun onSweeperFutianCloudTaskStatus(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, taskStatusPush: SweeperTaskStatus.TaskStatusPush?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskStatus(messageType, reqNo, sysTime, taskStatusPush)
override fun onSweeperFutianCloudTaskStatus(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
taskStatusPush: SweeperTaskStatus.TaskStatusPush?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskStatus(
messageType,
reqNo,
sysTime,
taskStatusPush
)
}
/**
@@ -603,8 +646,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param stopTaskReq 数据
*/
override fun onSweeperFutianCloudTaskStop(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, stopTaskReq: SweeperTaskStop.StopTaskReq?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskStop(messageType, reqNo, sysTime, stopTaskReq)
override fun onSweeperFutianCloudTaskStop(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
stopTaskReq: SweeperTaskStop.StopTaskReq?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskStop(
messageType,
reqNo,
sysTime,
stopTaskReq
)
}
/**
@@ -617,8 +671,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param suspendResumeTaskResp 数据
*/
override fun onSweeperFutianCloudTaskSuspendResume(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskSuspendResume(messageType, reqNo, sysTime, suspendResumeTaskResp)
override fun onSweeperFutianCloudTaskSuspendResume(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskSuspendResume(
messageType,
reqNo,
sysTime,
suspendResumeTaskResp
)
}
/**
@@ -630,8 +695,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param isBootableResp 数据
*/
override fun onSweeperFutianCloudBootable(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, isBootableResp: SweeperBootable.IsBootableResp?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBootable(messageType, reqNo, sysTime, isBootableResp)
override fun onSweeperFutianCloudBootable(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
isBootableResp: SweeperBootable.IsBootableResp?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBootable(
messageType,
reqNo,
sysTime,
isBootableResp
)
}
/**
@@ -643,8 +719,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param sysTime 当前时间戳
* @param bigTaskStatusPush 数据
*/
override fun onSweeperFutianCloudBigTaskStatus(header: MessagePad.Header, messageType: SweeperCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBigTaskStatus(messageType, reqNo, sysTime, bigTaskStatusPush)
override fun onSweeperFutianCloudBigTaskStatus(
header: MessagePad.Header,
messageType: SweeperCloudTask.MessageType,
reqNo: String?,
sysTime: Long,
bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?
) {
CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudBigTaskStatus(
messageType,
reqNo,
sysTime,
bigTaskStatusPush
)
}
/**
@@ -744,7 +831,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param getParamResp 配置参数
* @param adasParam 解析后的配置参数
*/
override fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) {
override fun onGetParamResp(
header: MessagePad.Header,
getParamResp: MessagePad.SetParamReq,
adasParam: AdasParam
) {
CallerAutopilotGetParamResponseDispatcher.dispatchResponse(header, getParamResp, adasParam)
}
@@ -766,8 +857,24 @@ class MoGoAdasListenerImpl : OnAdasListener {
* 是否可以启动自动驾驶
* 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
*/
override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
override fun onAutopilotAbility(
isAutopilotAbility: Boolean,
unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
) {
if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
}
invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
}
@ChainLog(
linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
linkCode = CHAIN_SOURCE_ADAS,
nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
paramIndexes = [0, 1]
)
private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String) {
}
/**

8
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
View File

@@ -8,6 +8,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -37,13 +38,11 @@ class MoGoAdasMsgConnectStatusListenerImpl :
init {
CallerCloudListenerManager.addListener(TAG, this)
CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
}
override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(
ipcConnectionStatus,
reason
)
CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
AppConfigInfo.connectStatusDescribe = reason
when (ipcConnectionStatus) {
Constants.IPC_CONNECTION_STATUS.CONNECTED -> {
@@ -100,6 +99,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus
CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe = reason
CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(ipcConnectionStatus, reason)
}
override fun onCompatibility(versionCompatibility: VersionCompatibility?) {

1
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
View File

@@ -41,6 +41,7 @@ object MoGoLocationDispatcher :
/**
* 最后一次高德定位返回的位置信息
*/
@Volatile
private var lastGaoDeLocation: MogoLocation = MogoLocation()
fun initListener() {

42
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
View File

@@ -2,18 +2,20 @@ package com.mogo.eagle.core.function.datacenter.obu
import android.content.Context
import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.data.enums.CommunicationType
import com.mogo.eagle.core.data.enums.DataSourceType
import com.mogo.eagle.core.data.enums.EventTypeEnumNew
import com.mogo.eagle.core.data.enums.TrafficLightEnum
import com.mogo.eagle.core.data.enums.WarningDirectionEnum
import com.mogo.eagle.core.data.obu.MogoObuConst
import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuWarningMapListener
import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuWarningRsiListener
import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuWarningRsmListener
import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuWarningSpatListener
import com.mogo.eagle.core.function.api.hmi.warning.*
import com.mogo.eagle.core.function.api.map.angle.*
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
import com.mogo.eagle.core.function.call.map.*
import com.mogo.eagle.core.function.call.obu.*
import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
@@ -292,11 +294,11 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
}
//大于10m，才提示rsi,超速不限制
if (appId == "6666") {
saveObuToDcData(appId, alertContent, ttsContent)
saveObuToDcData(appId, alertContent, ttsContent,CommunicationType.V2I)
showWarning(appId, alertContent, ttsContent, direction)
} else {
if (Math.round(rsiWarningData.warningMsgList[0].distance) > 10) {
saveObuToDcData(appId, alertContent, ttsContent)
saveObuToDcData(appId, alertContent, ttsContent,CommunicationType.V2I)
showWarning(appId, alertContent, ttsContent, direction)
}
}
@@ -304,7 +306,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
MogoObuShowConstants.STATUS.UPDATE -> { // 更新
if(EventTypeEnumNew.TYPE_USECASE_ID_SLW.poiType == appId){
saveObuToDcData(appId, alertContent, ttsContent)
saveObuToDcData(appId, alertContent, ttsContent,CommunicationType.V2I)
showWarning(appId, alertContent, ttsContent, direction)
}
}
@@ -396,8 +398,18 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
return
}
saveObuToDcData(v2xType, alertContent, ttsContent)
showWarning(v2xType, alertContent, ttsContent, direction)
saveObuToDcData(v2xType, alertContent, ttsContent,CommunicationType.V2I)
showWarning(v2xType, alertContent, ttsContent, direction, object : IMoGoWarningStatusListener {
override fun onShow() {
CallerVisualAngleManager.changeAngle(CrossRoad(true))
}
override fun onDismiss() {
super.onDismiss()
CallerVisualAngleManager.changeAngle(CrossRoad(false))
}
})
}
MogoObuShowConstants.STATUS.UPDATE -> {// 更新
@@ -566,7 +578,8 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
saveObuToDcData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent
ttsContent,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
@@ -608,7 +621,8 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
saveObuToDcData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
alertContentNew,
ttsContentNew
ttsContentNew,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
@@ -664,12 +678,13 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
/**
* 保存obu通过工控机传输的数据到消息盒子
*/
private fun saveObuToDcData(type: String, content: String, tts: String) {
private fun saveObuToDcData(type: String, content: String, tts: String,communicationType: CommunicationType) {
CallerObuSaveMessageListenerManager.invokeObuSaveMessage(
type,
content,
tts,
DataSourceType.TELEMATIC
DataSourceType.TELEMATIC,
communicationType
)
}
@@ -680,9 +695,10 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
type: String,
content: String,
tts: String,
direction: WarningDirectionEnum
direction: WarningDirectionEnum,
listener: IMoGoWarningStatusListener? = null
) {
CallerHmiManager.warningV2X(type, content, tts, null, direction, isFromObu = true)
CallerHmiManager.warningV2X(type, content, tts, listener, direction, isFromObu = true)
}
}

38
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
View File

@@ -7,8 +7,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.data.enums.*
import com.mogo.eagle.core.data.obu.MogoObuConst
import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
import com.mogo.eagle.core.function.api.map.angle.Default
import com.mogo.eagle.core.function.api.map.angle.TooClose
import com.mogo.eagle.core.function.api.map.angle.*
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
@@ -578,11 +577,11 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
}
//大于10m，才提示rsi。超速不限制
if (appId == "6666") {
saveObuData(appId, alertContent, ttsContent)
saveObuData(appId, alertContent, ttsContent,CommunicationType.V2I)
showWarning(appId, alertContent, ttsContent, direction)
} else {
if (Math.round(data.warningMsgList[0].distance) > 10) {
saveObuData(appId, alertContent, ttsContent)
saveObuData(appId, alertContent, ttsContent,CommunicationType.V2I)
showWarning(appId, alertContent, ttsContent, direction)
}
}
@@ -596,7 +595,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
MogoObuShowConstants.STATUS.UPDATE -> { // 更新
if(EventTypeEnumNew.TYPE_USECASE_ID_SLW.poiType == appId){
saveObuData(appId, alertContent, ttsContent)
saveObuData(appId, alertContent, ttsContent,CommunicationType.V2I)
showWarning(appId, alertContent, ttsContent, direction)
}
}
@@ -702,7 +701,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
if (alertContent.isEmpty() || ttsContent.isEmpty()) {
return
}
saveObuData(v2xType, alertContent, ttsContent)
saveObuData(v2xType, alertContent, ttsContent,CommunicationType.V2I)
showWarning(v2xType, alertContent, ttsContent, direction)
}
@@ -803,7 +802,6 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
var alertContent = ""
var ttsContent = ""
var v2xType = appId
var changeVisualAngle = false
when (appId) {
//前向碰撞预警
MogoObuShowConstants.V2X_WARNING_TYPE.FCW.toString() -> {
@@ -849,7 +847,6 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
) { //左后
changeVisualAngle = true
ttsContent = String.format(ttsContent, "左")
alertContent = String.format(alertContent, "左")
} else if (
@@ -857,7 +854,6 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
) { //右后
changeVisualAngle = true
ttsContent = String.format(ttsContent, "右")
alertContent = String.format(alertContent, "右")
}
@@ -945,21 +941,22 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
)
if (level == 2 || level == 3) {
//不显示弹框，其它保留
saveObuData(v2xType, alertContent, ttsContent)
saveObuData(v2xType, alertContent, ttsContent,CommunicationType.V2V)
CallerHmiManager.warningV2X(v2xType,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
object : IMoGoWarningStatusListener {
override fun onShow() {
super.onShow()
if (changeVisualAngle) {
CallerVisualAngleManager.changeAngle(TooClose)
if (appId == MogoObuShowConstants.V2X_WARNING_TYPE.BSW.toString()) {
//盲区预警，展示近视角
CallerVisualAngleManager.changeAngle(CrossRoad(true))
}
}
override fun onDismiss() {
if (changeVisualAngle) {
CallerVisualAngleManager.changeAngle(Default())
if (appId == MogoObuShowConstants.V2X_WARNING_TYPE.BSW.toString()) {
//盲区预警，取消近视角
CallerVisualAngleManager.changeAngle(CrossRoad(false))
}
}
},
@@ -1055,7 +1052,8 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
saveObuData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
alertContent,
ttsContent
ttsContent,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
@@ -1106,7 +1104,8 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
saveObuData(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
alertContentNew,
ttsContentNew
ttsContentNew,
CommunicationType.V2I
)
showWarning(
EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
@@ -1162,12 +1161,13 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
/**
* 保存obu直连数据到消息盒子
*/
private fun saveObuData(type: String, content: String, tts: String) {
private fun saveObuData(type: String, content: String, tts: String,communicationType: CommunicationType) {
CallerObuSaveMessageListenerManager.invokeObuSaveMessage(
type,
content,
tts,
DataSourceType.OBU
DataSourceType.OBU,
communicationType
)
}

55
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
View File

@@ -18,6 +18,7 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
import com.mogo.eagle.core.utilcode.util.GsonUtils
import com.mogo.eagle.core.utilcode.util.UiThreadHandler
import com.zhjt.service.chain.ChainLog
import perception.TrafficLightOuterClass
import perception.TrafficLightOuterClass.TrafficLight
@@ -65,7 +66,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
//obu数据
@Volatile
private var hasObuLightStatus: Boolean = false
//红绿灯定时器，超时未更新隐藏红绿灯
@Volatile
private var lightCountDownTimer: CountDownTimer? = null
private var lastLightTime: Long = System.currentTimeMillis()
@@ -88,28 +90,6 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
)
if (!hasObuLightStatus) {
if (!hasAiLightStatus) {
lastLightTime = System.currentTimeMillis()
if (lightCountDownTimer == null) {
lightCountDownTimer = object : CountDownTimer(300000, 1000) {
override fun onTick(millisUntilFinished: Long) {
if ((System.currentTimeMillis() - lastLightTime) > 1000) {
//隐藏红绿灯显示
hide("感知倒计时结束隐藏", DataSourceType.TELEMATIC)
lightCountDownTimer?.cancel()
lightCountDownTimer = null
}
}
override fun onFinish() {
lightCountDownTimer?.cancel()
lightCountDownTimer = null
}
}
lightCountDownTimer?.start()
}
trafficLights?.let { it ->
var light: TrafficLight? = null
if (it.hasStraight()) {
@@ -232,7 +212,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
}
/**
* 红绿灯数据
* OBU红绿灯数据
*/
@ChainLog(
linkChainLog = ChainConstant.CHAIN_TYPE_SOCKET_TRAFFIC_LIGHT,
@@ -253,6 +233,33 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
"${SceneConstant.M_D_C}${TAG}",
"onTrafficLightPlusSource ----- light = $light ---remain = $remain ---lightSource = $lightSource ---hasObuLightStatus = $hasObuLightStatus ---hasAiLightStatus = $hasAiLightStatus"
)
//倒计时，超时还未更新数据则隐藏红绿灯
lastLightTime = System.currentTimeMillis()
if (lightCountDownTimer == null) {
UiThreadHandler.post{
lightCountDownTimer = object : CountDownTimer(300000, 1000) {
override fun onTick(millisUntilFinished: Long) {
if ((System.currentTimeMillis() - lastLightTime) > 1500) {
//隐藏红绿灯显示
hide("倒计时结束隐藏", lightSource)
lightCountDownTimer?.cancel()
lightCountDownTimer = null
}
}
override fun onFinish() {
//隐藏红绿灯显示
hide("倒计时结束隐藏", lightSource)
lightCountDownTimer?.cancel()
lightCountDownTimer = null
}
}
lightCountDownTimer?.start()
}
}
CallerTrafficLightListenerManager.showTrafficLight(light, lightSource)
if (remain == -1) {
CallerTrafficLightListenerManager.disableTrafficLightCountDown()