diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt index c07c7790ca..756a0dac83 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt @@ -25,6 +25,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData +import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage @@ -224,7 +225,11 @@ class MoGoAdasListenerImpl : OnAdasListener { header: MessagePad.Header?, trafficLights: TrafficLightOuterClass.TrafficLights? ) { - + if(trafficLights != null){ + CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight( + trafficLights + ) + } } override fun onPredictionObstacleTrajectory( diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt index bd61805e39..f2b071ffbe 100644 --- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt +++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt @@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightManager import com.mogo.eagle.core.function.v2x.events.V2XEventManager import com.mogo.eagle.core.function.v2x.redlightwarning.RedLightWarningManager import com.mogo.eagle.core.function.v2x.speedlimit.SpeedLimitDataManager +import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightDispatcher import com.mogo.eagle.core.function.v2x.vip.VipCarManager import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils @@ -22,6 +23,7 @@ class V2XProvider : IMoGoFunctionServerProvider { CallTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context) VipCarManager.INSTANCE.initServer(context) SpeedLimitDataManager.getInstance().start() + TrafficLightDispatcher.INSTANCE.initServer(context) if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { //不处理 @@ -34,7 +36,7 @@ class V2XProvider : IMoGoFunctionServerProvider { override fun onDestroy() { VipCarManager.INSTANCE.destroy() - + TrafficLightDispatcher.INSTANCE.destroy() if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) { //不处理 } else { diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt new file mode 100644 index 0000000000..e140dee55d --- /dev/null +++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt @@ -0,0 +1,112 @@ +package com.mogo.eagle.core.function.v2x.trafficlight.core + +import android.content.Context +import com.mogo.eagle.core.data.trafficlight.TrafficLightResult +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener +import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener +import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager +import com.mogo.eagle.core.function.call.hmi.CallerHmiManager +import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager +import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager +import perception.TrafficLightOuterClass +import perception.TrafficLightOuterClass.TrafficLight + +/** + * @author XuXinChao + * @description 对多个红绿灯信号来源进行统一调度（AI云、工控机） + * @since: 2022/4/28 + */ +class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLightListener { + + companion object{ + const val TAG = "TrafficLightDispatcher" + val INSTANCE: TrafficLightDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED){ + TrafficLightDispatcher() + } + + } + + private var mContext: Context? = null + //是否有AI获取红绿灯灯态 + private var hasAiLightStatus: Boolean = false + + fun initServer(context: Context){ + mContext = context + //注册监听AI云获取红绿灯状态 + CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this) + //注册监听AI云进入路口 + CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this) + //注册监听工控机感知红绿灯 + CallerAutopilotIdentifyListenerManager.addListener(TAG, this) + } + + /** + * 工控机感知红绿灯 + * @param trafficLights 感知红绿灯 + */ + override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) { + if(!hasAiLightStatus){ + trafficLights?.let { it -> + var light :TrafficLight?= null + if(it.hasStraight()){ + light = it.straight + }else if(it.hasLeft()){ + light = it.left + }else if(it.hasRight()){ + light = it.right + }else if(it.hasUTurn()){ + light = it.uTurn + } + if(light == null){ + //隐藏红绿灯显示 + CallerHmiManager.showWarningTrafficLight(0) + }else{ + when (light.state) { + TrafficLightOuterClass.LightState.STATE_RED -> { + //红灯 + CallerHmiManager.showWarningTrafficLight(1) + CallerHmiManager.changeCountdownGreen(0) + } + TrafficLightOuterClass.LightState.STATE_YELLOW -> { + //黄灯 + CallerHmiManager.showWarningTrafficLight(2) + CallerHmiManager.changeCountdownGreen(0) + } + TrafficLightOuterClass.LightState.STATE_GREEN -> { + //绿灯 + CallerHmiManager.showWarningTrafficLight(3) + CallerHmiManager.changeCountdownGreen(0) + } + else -> {} + } + } + + } + } + } + + /** + * AI云获取红绿灯状态 + */ + override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) { + TrafficLightHMIManager.INSTANCE.updateTrafficLight(trafficLightResult) + hasAiLightStatus = true + } + + /** + * 车辆进入路口 + */ + override fun onEnterCrossRoad(enter: Boolean) { + hasAiLightStatus = enter + } + + fun destroy(){ + //取消注册监听AI云获取红绿灯状态 + CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG) + //取消注册监听工控机感知红绿灯 + CallerAutopilotIdentifyListenerManager.removeListener(TAG) + //取消注册监听AI云进入路口 + CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG) + } + +} \ No newline at end of file diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt index 7fc2b7542f..5306cda882 100644 --- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt +++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt @@ -1,6 +1,7 @@ package com.mogo.eagle.core.function.api.autopilot import mogo.telematics.pad.MessagePad +import perception.TrafficLightOuterClass /** * @author xiaoyuzhou @@ -23,4 +24,10 @@ interface IMoGoAutopilotIdentifyListener { */ fun onAutopilotWarnMessage(warn: MessagePad.Warn?) {} + /** + * 感知红绿灯 + * @param trafficLights 感知红绿灯 + */ + fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){} + } \ No newline at end of file diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt index 41f97b42c9..097adbfc58 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt @@ -4,6 +4,7 @@ import androidx.annotation.Nullable import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener import com.mogo.eagle.core.function.call.base.CallerBase import mogo.telematics.pad.MessagePad +import perception.TrafficLightOuterClass import java.util.concurrent.ConcurrentHashMap /** @@ -79,5 +80,15 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() { } } + /** + * 感知红绿灯 + */ + fun invokeAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){ + M_AUTOPILOT_IDENTIFY_LISTENERS.forEach{ + val tag = it.key + val listener = it.value + listener.onAutopilotPerceptionTrafficLight(trafficLights) + } + } } \ No newline at end of file