[684][led]添加明鑫亮LED外面控制

2024-12-20 20:12:43 +08:00
parent 17257c7d85
commit f2c11bac3c
10 changed files with 942 additions and 7 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
 import com.mogo.eagle.core.function.datacenter.v2x.SpeedLimitDispatcher
 import com.mogo.eagle.core.function.datacenter.v2x.TrafficLightDispatcher
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.support.device.led.LedSourceManager

@Route(path = MogoServicePaths.PATH_DATA_CENTER_MODULE)
 class DataCenterProvider : IDataCenterProvider {
@@ -25,14 +26,15 @@ class DataCenterProvider : IDataCenterProvider {
        MoGoLocationDispatcher.initListener()
        mContext = context
        mContext?.let {
+            val isPassenger = AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
+            LedSourceManager.init(!isPassenger)
            CallerDataCenterBizManager.init()
            CallerMsgBoxManager.queryAllMessages(it)
            TrafficLightDispatcher.INSTANCE.initServer(it)
            SpeedLimitDispatcher.INSTANCE.initLimit(it)
-            if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            if (isPassenger) {
                IotManager.init()
            }
-
        }
    }

--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -31,7 +31,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListene
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerIpcConnectStateToastManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
@@ -55,6 +54,7 @@ import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.support.device.led.LedSourceManager
 import com.mogo.telematic.MogoProtocolMsg
 import com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA
 import com.mogo.telematic.MogoProtocolMsg.SYNC_FUSION_COLOR_STATUS
@@ -1025,6 +1025,13 @@ class MoGoAutopilotControlProvider :
     */
    override fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean) {
        AdasManager.getInstance().sendTripInfoReq(type, lineName, departureStopName,arrivalStopName, isLastStop)
+        LedSourceManager.updateTripInfoData(
+            type,
+            lineName,
+            departureStopName,
+            arrivalStopName,
+            isLastStop
+        )
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -91,16 +91,17 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_D_C
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
+import com.mogo.support.device.led.LedSourceManager
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.chain.AdasChain
-import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.AdasConstants.NodeExistState
 import com.zhjt.mogo.adas.data.AiCloudTask
+import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.NodeStateInfo
@@ -133,6 +134,7 @@ import prediction.Prediction
 import record_cache.RecordPanelOuterClass
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
+import kotlin.math.roundToInt

 /**
 * 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理
@@ -176,6 +178,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
    )
    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
+        LedSourceManager.updateAccelerationData(gnssInfo.acceleration)
        if (gnssInfo != null) {
            // 同步更新经纬度和系统时间至 AutoPilotStatusListener
            CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
@@ -278,6 +281,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
    override fun onLightSwitch(light: Chassis.LightSwitch) {
        //转向灯数据
        CallerChassisStatesListenerManager.invokeAutopilotLightSwitchData(light)
+        var type = 0
+        if (Chassis.LightSwitch.LIGHT_LEFT == light) {
+            type = 1
+        } else if (Chassis.LightSwitch.LIGHT_RIGHT == light) {
+            type = 2
+        } else if (Chassis.LightSwitch.LIGHT_FLASH == light) {
+            type = 3
+        }
+        LedSourceManager.updateTurnSignalData(type)
    }

    //自动驾驶状态
@@ -320,6 +332,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
        header: MessagePad.Header?,
        trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?
    ) {
+        //此分发新开线程，在invokeAutopilotPerceptionTrafficLight 前分发避免 invokeAutopilotPerceptionTrafficLight中存在耗时操作影响LED数据更新
+        transitionTurnToLedData(trafficLights)
        if (trafficLights != null) {
            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
                trafficLights
@@ -327,6 +341,92 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

+    /**
+     * LED屏幕数据转换
+     * 只能放在这 LedSourceManager LIB中并未依赖ADAS数据源
+     */
+    private fun transitionTurnToLedData(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) {
+        var stateTurnRound = -1
+        var durationTurnRound = -1
+        var stateTurnLeft = -1
+        var durationTurnLeft = -1
+        var stateStraight = -1
+        var durationStraight = -1
+        var stateTurnRight = -1
+        var durationTurnRight = -1
+        if (trafficLights != null) {
+            if (trafficLights.uTurn != null) {
+                val uTurn = trafficLights.uTurn
+                stateTurnRound = transitionTurnType(uTurn.state)
+                if (uTurn.duration > 0) {
+                    durationTurnRound = uTurn.duration.roundToInt()
+                }
+            }
+            if (trafficLights.left != null) {
+                val left = trafficLights.left
+                stateTurnLeft = transitionTurnType(left.state)
+                if (left.duration > 0) {
+                    durationTurnLeft = left.duration.roundToInt()
+                }
+            }
+            if (trafficLights.straight != null) {
+                val straight = trafficLights.straight
+                stateStraight = transitionTurnType(straight.state)
+                if (straight.duration > 0) {
+                    durationStraight = straight.duration.roundToInt()
+                }
+            }
+            if (trafficLights.right != null) {
+                val right = trafficLights.right
+                stateTurnRight = transitionTurnType(right.state)
+                if (right.duration > 0) {
+                    durationTurnRight = right.duration.roundToInt()
+                }
+            }
+            //来源是自车没有倒计时 不管域控发的倒计时是什么值
+            if (trafficLights.source == 0) {
+                durationTurnRound = -1
+                durationTurnLeft = -1
+                durationStraight = -1
+                durationTurnRight = -1
+            }
+        }
+        LedSourceManager.updateTrafficLightData(
+            stateTurnRound,
+            durationTurnRound,
+            stateTurnLeft,
+            durationTurnLeft,
+            stateStraight,
+            durationStraight,
+            stateTurnRight,
+            durationTurnRight
+        )
+    }
+
+    private fun transitionTurnType(state: FusionTrafficLightOuterClass.FusionLightState?): Int {
+        var type = -1
+        state?.let {
+            type = when (it) {
+                FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION -> {
+                    2
+                }
+
+                FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION -> {
+                    3
+                }
+
+                FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION -> {
+                    4
+                }
+
+                else -> {
+                    -1
+                }
+            }
+        }
+        return type
+    }
+
    //他车轨迹预测
    override fun onPredictionObstacleTrajectory(
        header: MessagePad.Header?,