[Fix]修复闯红灯和绿波通行预警的问题

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt

@@ -6,6 +6,7 @@ import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.util.SPUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.module.common.enums.EventTypeEnum
 import com.mogo.utils.logger.Logger
@@ -25,7 +26,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener {
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
         getCurrentRoadTrafficLight(trafficLightResult)?.let {
-            handleRedLightWarning(it)
+            handleRedLightWarning(it, trafficLightResult.flashYellow)
         }
     }
 
@@ -33,21 +34,28 @@ class RedLightWarningManager : IMoGoTrafficLightListener {
         CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
     }
 
-    private fun handleRedLightWarning(trafficLightStatus: TrafficLightStatus) {
+    private fun handleRedLightWarning(trafficLightStatus: TrafficLightStatus, yellowLightTime: Int = 0) {
+        // 如果是Vip则不处理
+        if (SPUtils.getInstance().getLong("vip") > 0) {
+            return
+        }
         // 路口100m闯红灯预警
         CallerMapLocationListenerManager.getCurrentLocation()?.let {
+            // 单位m/s
+            val speed = it.speed
+            // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
+            if (speed <= 2.5f) return// 小于等于9km/h不处理
             val distance = 100
             val remainTime = trafficLightStatus.remain
-            val speed = it.speed
-            if (speed == 0f) return
             val arriveTime = distance / speed
+            Logger.d(TAG, "speed is:$speed,remainTime is:$remainTime,arriveTime is:$arriveTime,yellowTime is:$yellowLightTime")
 
             when {
                 trafficLightStatus.isRed() -> {
                     // 到达路口时红灯还没走完
                     if (arriveTime <= remainTime) {
                         redLightWarning()
-                    } else if (arriveTime > remainTime) {
+                    } else if (arriveTime > remainTime + yellowLightTime) {// 到达时红、黄灯都走完
                         greenLightWarning()
                     }
                 }
@@ -55,6 +63,8 @@ class RedLightWarningManager : IMoGoTrafficLightListener {
                     // 到达路口时黄灯还没走完
                     if (arriveTime <= remainTime) {
                         redLightWarning()
+                    } else {
+                        greenLightWarning()
                     }
                 }
                 trafficLightStatus.isGreen() -> {

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt

@@ -16,6 +16,7 @@ data class TrafficLightResult(
     val lightId: Int,                //红绿灯ID
     val laneNo: Int,                 //车道号
     val arrowNo: Int,                //当前车道对应地面要素转向
-    val laneList: TrafficLightDetail  //灯态具体信息
+    val laneList: TrafficLightDetail,  //灯态具体信息
+    val flashYellow: Int// 黄灯总时间
 ) {
 }