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fix bug

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This commit is contained in:
zhongchao
2022-06-10 18:13:43 +08:00
parent 650d43f914
commit 0f1019645a
5 changed files with 90 additions and 47 deletions
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2
core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -120,7 +120,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
// 同步更新经纬度和系统时间至 AutoPilotStatusListener
CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
gnssInfo.satelliteTime.toLong(),
gnssInfo.satelliteTime.toLong() * 1000,
gnssInfo.longitude,
gnssInfo.latitude
)

64
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackManager.java
View File

@@ -1,15 +1,20 @@
package com.mogo.eagle.core.function.map;
import android.content.Context;
import android.os.Build;
import android.util.ArrayMap;
import android.util.Log;
import androidx.annotation.RequiresApi;
import com.google.common.collect.BiMap;
import com.google.common.collect.HashBiMap;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.map.MogoMarkerManager;
import java.text.DecimalFormat;
import java.util.ArrayList;
import java.util.Iterator;
import java.util.List;
@@ -26,14 +31,24 @@ public class TrackManager {
return TrackOwner.trackManager;
}
public static final DecimalFormat DF = new DecimalFormat("0.000000");
public static final int DISTANCE = 6371000;
public static double LIMIT_SPEED = AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) ? 0.7 : 0.5;
/**
* marker缓存队列
*/
private final ArrayMap<String, TrackObj> mMarkersCaches = new ArrayMap<>();
/**
* marker s2 cellId缓存队列，空间换时间
*/
private final BiMap<String, Long> cellIdCaches = HashBiMap.create();
/**
* 记录每次实际绘制的交通元素UUID
*/
private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
/**
* 过滤后的数据集合
*/
@@ -58,32 +73,55 @@ public class TrackManager {
mFilterTrafficData.add(data);
} else {
trackObj = new TrackObj(data);
//todo 判断是否有重合元素 google s2
// 判断是否有重合元素 google s2
// if (cellIdCaches.containsValue(trackObj.getCellIdPos())) {
// String findSameValue = cellIdCaches.inverse().get(trackObj.getCellIdPos());
// Log.d("0609", "uuid : " + findSameValue + " 与新感知物 : " + uuid + " , 出现相同pos : " + trackObj.getCellIdPos());
// data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
// data = trackObj.updateObj(data);
// mFilterTrafficData.add(data);
// }
}
cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
mMarkersCaches.put(uuid, trackObj);
trafficDataUuidList.add(uuid);
}
return mFilterTrafficData;
}
public void clearCache(Context mContext) {
Iterator it = mMarkersCaches.keySet().iterator();
while (it.hasNext()) {
String key = (String) it.next();
TrackObj trackObj = mMarkersCaches.get(key);
if (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() - trackObj.getRecentlyTime() > 1000) {
Log.d("track","clearCache uuid : " + key);
mMarkersCaches.remove(key);
MogoMarkerManager.getInstance(mContext)
.removeMarker(key);
@RequiresApi(api = Build.VERSION_CODES.N)
public void clearCache(Context mContext, List<MessagePad.TrackedObject> resultList) {
//清除缓存
for (MessagePad.TrackedObject data : resultList) {
if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
trafficDataUuidList.remove("" + data.getUuid());
}
}
trafficDataUuidList.forEach(uuid -> {
mMarkersCaches.remove(uuid);
cellIdCaches.remove(uuid);
});
// Iterator it = mMarkersCaches.keySet().iterator();
// while (it.hasNext()) {
// String key = (String) it.next();
// TrackObj trackObj = mMarkersCaches.get(key);
// if (trackObj != null && Math.abs(CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() - trackObj.getRecentlyTime()) >= 500) {
// Log.d("track", "clearCache uuid : " + key);
// mMarkersCaches.remove(key);
// cellIdCaches.remove(key);
// MogoMarkerManager.getInstance(mContext)
// .removeMarker(key);
// }
// }
}
public void clearAll(Context mContext) {
trafficDataUuidList.clear();
Iterator it = mMarkersCaches.keySet().iterator();
while (it.hasNext()) {
String key = (String) it.next();
mMarkersCaches.remove(key);
cellIdCaches.remove(key);
MogoMarkerManager.getInstance(mContext)
.removeMarker(key);
}

59
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackObj.java
View File

@@ -1,13 +1,12 @@
package com.mogo.eagle.core.function.map;
import static com.mogo.eagle.core.function.map.TrackManager.DISTANCE;
import static com.mogo.eagle.core.function.map.TrackManager.LIMIT_SPEED;
import android.util.Log;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
import java.math.BigDecimal;
import java.util.List;
import mogo.telematics.pad.MessagePad;
@@ -21,14 +20,16 @@ public class TrackObj {
private long recentlyTime; //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
private double headingDelta; //航向角德尔塔
private double typeWeight; //类型权重
private String uuid;
private double lat;
private double lon;
public TrackObj(MessagePad.TrackedObject data) {
uuid = "" + data.getUuid();
kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getType()));
recentlyTime = BigDecimal.valueOf(data.getSatelliteTime()).longValue();
S2LatLng s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude());
recentlyTime = Double.valueOf(data.getSatelliteTime() * 1000).longValue();
lat = data.getLatitude();
lon = data.getLongitude();
s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude());
s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); //需要验证22前后
}
@@ -36,13 +37,13 @@ public class TrackObj {
//先处理kalman数据，将经纬度校准后，放入缓存队列，然后基于后序策略将各个项进行校准
public MessagePad.TrackedObject updateObj(MessagePad.TrackedObject data) {
cacheData = data.toBuilder().build();
recentlyTime = BigDecimal.valueOf(data.getSatelliteTime()).longValue();//todo 毫秒没有了
cacheData = data;
correct();
recentlyTime = Double.valueOf(data.getSatelliteTime() * 1000).longValue();
circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), cacheData.getType()));
return cacheData.toBuilder().build();
return cacheData;
}
private void correct() {
@@ -53,27 +54,27 @@ public class TrackObj {
private void calLoc() {
//距离计算,位置修正
double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
if (s2LatLng != null) {
double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(lonLat[0], lonLat[1])).distance(DISTANCE);
// DF.format(distance)
//速度小于0.5m/s,并且距离在15米范围内，则认为是相对静止状态(注意调整阈值)，不更新缓存点信息
if (cacheData.getSpeed() < 0.5 && distance < 15) {
Log.i("track", "uuid : " + uuid + " , 静止物体相对上一帧 distance : " + distance + " lon : " + s2LatLng.latDegrees() + " lat : " + s2LatLng.lngDegrees());
cacheData = cacheData.toBuilder().setLongitude(s2LatLng.latDegrees()).setLatitude(s2LatLng.lngDegrees()).build();
} else {
//不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
s2LatLng = S2LatLng.fromDegrees(lonLat[0], lonLat[1]);
s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
}
//todo bus250 taxi上测试下面注释掉内容
// double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
// double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(lonLat[1], lonLat[0])).distance(DISTANCE);
// double calDistance = (cacheData.getSpeed() * (Double.valueOf(cacheData.getSatelliteTime() * 1000).longValue() - recentlyTime)) / 1000.0;
//速度小于0.5m/s,并且距离在计算合理范围内超出2倍，则认为是相对静止状态(注意调整阈值)，不更新缓存点信息
// if (cacheData.getSpeed() < LIMIT_SPEED || calDistance * 2 < distance) {
// Log.i("uuid : " + uuid , cacheData.getSpeed() < LIMIT_SPEED ? " 减速到静止" : "拉回来了 cal :" + calDistance + " , distance : " + distance + " , lon : " + lonLat[0] + " , lat : " + lonLat[1]);
if (cacheData.getSpeed() < LIMIT_SPEED) {
// cacheData = cacheData.toBuilder().setLongitude(s2LatLng.lngDegrees()).setLatitude(s2LatLng.latDegrees()).build();
cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
} else {
//首次更新
s2LatLng = S2LatLng.fromDegrees(lonLat[0], lonLat[1]);
//不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
lat = cacheData.getLatitude();
lon = cacheData.getLongitude();
s2LatLng = S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude());
s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22);
// cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
}
}
//todo 对航向角做 10帧 原数据缓存，取众数
private void calHeading() {
double speedAverage;
double newDelta;
@@ -105,14 +106,14 @@ public class TrackObj {
headingDelta = newDelta;
}
//更正数据,速度小于0.5使用上一帧数据
if (speedAverage < 0.5) {
if (speedAverage < LIMIT_SPEED && circleQueue.size() != 1) {
cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
}
//速度大于1.5并出现大幅度转向使用缓存帧和delta数据
if (cacheData.getSpeed() > 1.5 && newDelta > 10 && headingDelta != 0.0) {
Log.i("0609", "uuid : " + cacheData.getUuid() + " 修正航向角 last : " + lastObj.getHeading() + " , 增益 : " + headingDelta);
cacheData = cacheData.toBuilder().setHeading(lastObj.getHeading() + headingDelta).build();
}
}
private void calType() {
@@ -123,6 +124,10 @@ public class TrackObj {
return recentlyTime;
}
public long getCellIdPos() {
return s2CellId.pos();
}
@Override
public String toString() {
return "TrackObj{" +

10
libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
View File

@@ -759,11 +759,11 @@ public class AMapViewWrapper implements IMogoMapView,
} else {
mIsFirstLocated = true;
mIsDelayed = false;
try {
CallerLogger.INSTANCE.d(M_MAP + TAG, "同步定位：" + GsonUtils.toJson(location));
} catch (Exception e) {
e.printStackTrace();
}
// try {
// CallerLogger.INSTANCE.d(M_MAP + TAG, "同步定位：" + GsonUtils.toJson(location));
// } catch (Exception e) {
// e.printStackTrace();
// }
}
}
}

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -201,7 +201,7 @@ public class MogoRouteOverlayManager implements
if (isExcept) {
RouteOverlayDrawer.getInstance(mContext).setVisible(false);
}
CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "--- onLocationChanged -- cost:" + (SystemClock.elapsedRealtime() - start) + " ms");
// CallerLogger.INSTANCE.d(M_OLD_ROUTE + TAG, "--- onLocationChanged -- cost:" + (SystemClock.elapsedRealtime() - start) + " ms");
}
}