yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[dev_robotaxi-d-app-module_2132_221223_2.13.2_sop] 修改obu红绿灯消失的状态回调

Browse Source
This commit is contained in:
lixiaopeng
2023-02-14 19:38:47 +08:00
parent d8b5c2fb8d
commit f1c1fd34eb
5 changed files with 100 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

82
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
View File

@@ -18,6 +18,7 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Defa
import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightDisappearManager
import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
import com.mogo.eagle.core.function.call.v2x.CallObuLimitingSpeedListenerManager
import com.mogo.eagle.core.function.obu.mogo.utils.TrafficDataConvertUtilsNew
@@ -758,30 +759,35 @@ class MogoPrivateObuNewManager private constructor() {
// 这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
var alertContent: String = ""
var ttsContent: String = ""
var saveAppId: String = ""
var changeVisualAngle = false
when (appId) {
//交叉路口碰撞预警
//前向碰撞预警
MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType
}
//交叉路口碰撞预警
MogoObuConstants.V2X_WARNING_TYPE.ICW.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType
}
//左转辅助预警
MogoObuConstants.V2X_WARNING_TYPE.LTA.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType
}
//盲区预警
MogoObuConstants.V2X_WARNING_TYPE.BSW.toString() -> {
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType
if (
direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
@@ -805,6 +811,7 @@ class MogoPrivateObuNewManager private constructor() {
MogoObuConstants.V2X_WARNING_TYPE.LCW.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType
if (
direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
@@ -826,12 +833,14 @@ class MogoPrivateObuNewManager private constructor() {
MogoObuConstants.V2X_WARNING_TYPE.DNPW.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType
}
//紧急制动预警
MogoObuConstants.V2X_WARNING_TYPE.EBW.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType
}
//异常车辆提醒
@@ -840,6 +849,7 @@ class MogoPrivateObuNewManager private constructor() {
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
alertContent = String.format(alertContent, direction.desc)
ttsContent = String.format(ttsContent, direction.desc)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType
}
//车辆失控预警
@@ -848,11 +858,13 @@ class MogoPrivateObuNewManager private constructor() {
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
alertContent = String.format(alertContent, direction.desc)
ttsContent = String.format(ttsContent, direction.desc)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType
}
//车辆失控预警
MogoObuConstants.V2X_WARNING_TYPE.EVW.toString() -> {
alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
}
// 这里处理固定的提示信息,包括了<紧急车辆提醒>
@@ -868,7 +880,7 @@ class MogoPrivateObuNewManager private constructor() {
MogoObuConstants.STATUS.UPDATE -> {
CallerLogger.d(
"$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
"new handleSdkObu appId2 = $appId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
"new handleSdkObu appId2 = $saveAppId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
)
if (level == 2 || level == 3) {
//不显示弹框，其它保留
@@ -876,7 +888,7 @@ class MogoPrivateObuNewManager private constructor() {
MsgBoxBean(
MsgBoxType.V2X,
V2XMsg(
appId,
saveAppId,
alertContent,
ttsContent
)
@@ -885,10 +897,10 @@ class MogoPrivateObuNewManager private constructor() {
}
)
CallerHmiManager.warningV2X(
appId,
saveAppId,
alertContent,
ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
(appId + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
(saveAppId + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
object : IMoGoWarningStatusListener {
override fun onShow() {
super.onShow()
@@ -958,9 +970,7 @@ class MogoPrivateObuNewManager private constructor() {
isShowGreenWave = false
isShowRunRedLight = false
isYellowLight = false
// lightCountDownRed = 1
// lightCountDownGreen = 1
// lightCountDownYellow = 1
CallerObuTrafficLightDisappearManager.invokeObuTrafficLightDisappear()
}
}
}
@@ -971,11 +981,6 @@ class MogoPrivateObuNewManager private constructor() {
private var isShowGreenWave = false
private var isShowRunRedLight = false
// private var lightCountDownRed : Int = 1
// private var lightCountDownGreen : Int = 1
// private var lightCountDownYellow : Int = 1
/**
* 修改红绿灯
*/
@@ -1044,15 +1049,9 @@ class MogoPrivateObuNewManager private constructor() {
if (minSpeedTemp == maxSpeedTemp) {
minSpeedTemp -= 5
}
val adviceSpeed = "$minSpeedTemp - $maxSpeedTemp"
val adviceSpeedTts = "$minSpeedTemp 到 $maxSpeedTemp"
// val adviceSpeed =
// "${Math.round(currentLight.suggestMinSpeed*3.6)} - ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
// val adviceSpeedTts =
// "${Math.round(currentLight.suggestMinSpeed*3.6)} 到 ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
ttsContent =
String.format(
EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
@@ -1100,87 +1099,42 @@ class MogoPrivateObuNewManager private constructor() {
}
// 红灯
2, 3 -> {
// if (!isGreenLight) { //只有不是是绿灯，才能展示跳转到红灯
if (!isRedLight) {
CallerHmiManager.disableWarningV2X(appId.toString())
isRedLight = true
}
isGreenLight = false
isYellowLight = false
// lightCountDownYellow = 1
// lightCountDownGreen = 1
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(1)
val red = currentLight.countDown.toInt()
// Log.e("lixp", " ----11--- red --------- = $red ----lightCountDownRed = $lightCountDownRed ----isGreenLight = $isGreenLight")
// //记录当前红灯的上一帧的值 10,9,10
// if (lightCountDownRed == 1) { //最后一个灯态是1
// lightCountDownRed = red
// }
//
// if (lightCountDownRed < red) { //10 9
// return
// }
// lightCountDownRed = red
// Log.e("lixp", " ----22--- red --------- = $red ----lightCountDownRed = $lightCountDownRed ----isGreenLight = $isGreenLight")
CallerHmiManager.changeCountdownRed(red)
// }
}
// 绿灯
4, 5, 6 -> {
// if (!isYellowLight) { //只有不是黄灯的时候，才能跳转到绿灯
if (!isGreenLight) {
CallerHmiManager.disableWarningV2X(appId.toString())
isGreenLight = true
}
isRedLight = false
isYellowLight = false
// lightCountDownRed = 1
// lightCountDownYellow = 1
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(3)
val green = currentLight.countDown.toInt()
// Log.e("lixp", " ----11--- green --------- = $green ---lightCountDownGreen = $lightCountDownGreen ----isYellowLight = $isYellowLight")
// if (lightCountDownGreen == 1) {
// lightCountDownGreen = green
// }
//
// if (lightCountDownGreen < green) {
// return
// }
// lightCountDownGreen = green
// Log.d("lixp", " ----22--- green --------- = $green ---lightCountDownGreen = $lightCountDownGreen ----isYellowLight = $isYellowLight")
CallerHmiManager.changeCountdownGreen(green)
// }
}
// 黄灯
7, 8 -> {
// if (!isRedLight) { //黄灯只能跳转绿灯
if (!isYellowLight) {
isYellowLight = true
}
isRedLight = false
isGreenLight = false
// lightCountDownRed = 1
// lightCountDownGreen = 1
CallerHmiManager.disableWarningV2X(appId.toString())
CallerObuTrafficLightListenerManager.invokeObuTrafficLight(2)
val yellow = currentLight.countDown.toInt()
// Log.e("lixp", " -----11-- yellow --------- = $yellow ---lightCountDownYellow = $lightCountDownYellow ----isYellowLight = $isYellowLight")
// if (lightCountDownYellow == 1) {
// lightCountDownYellow = yellow
// }
//
// if (lightCountDownYellow < yellow) {
// return
// }
// lightCountDownYellow = yellow
// Log.d("lixp", " -----22-- yellow --------- = $yellow ---lightCountDownYellow = $lightCountDownYellow ----isYellowLight = $isYellowLight")
CallerHmiManager.changeCountdownYellow(yellow)
}
}
// }
}

10
core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
View File

@@ -5,10 +5,12 @@ import android.os.Handler
import android.util.Log
import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightDisapperListener
import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightListener
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.obu.CallerObuTrafficLightDisappearManager
import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
@@ -21,7 +23,7 @@ import perception.TrafficLightOuterClass.TrafficLight
* @since: 2022/4/28
*/
class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener,
IMoGoObuTrafficLightListener {
IMoGoObuTrafficLightListener, IMoGoObuTrafficLightDisapperListener {
companion object {
const val TAG = "TrafficLightDispatcher"
@@ -50,6 +52,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
//obu红绿灯数据
CallerObuTrafficLightListenerManager.registerObuTrafficLightListener(TAG, this)
//obu红绿灯数据消失
CallerObuTrafficLightDisappearManager.registerObuTrafficLightListener(TAG, this)
}
/**
@@ -153,6 +157,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
CallerHmiManager.showWarningTrafficLight(light, 3)
}
override fun onObuLightDisapper() {
hasObuLightStatus = false
}
fun destroy() {
//取消注册监听AI云获取红绿灯状态
CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)