[2.13.0-arch-opt] change the color of jiangshiche and opt tracker

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/CircleQueue.java

@@ -24,18 +24,10 @@ public class CircleQueue {
         objQueue.add(obj);
     }
 
-    public void deleteObj(ObjQueue obj) {
-        objQueue.remove(obj);
-    }
-
     public List<ObjQueue> getLastThreeFrame() {
         return objQueue.subList(objQueue.size() - 3, objQueue.size());
     }
 
-    public List<ObjQueue> getLastFiveFrame() {
-        return objQueue.subList(objQueue.size() - 5, objQueue.size());
-    }
-
     public List<ObjQueue> getPreFrame() {
         return objQueue.subList(0, objQueue.size());
     }
@@ -44,6 +36,10 @@ public class CircleQueue {
         return objQueue.lastElement();
     }
 
+    public void clear(){
+        objQueue.clear();
+    }
+
     @Override
     public String toString() {
         return "CircleQueue{" +

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.business.identify;
 
 import android.annotation.SuppressLint;
 import android.os.Build;
+import android.util.Log;
 
 import androidx.annotation.RequiresApi;
 
@@ -50,7 +51,7 @@ public class TrackManager {
      * 记录每次实际绘制的交通元素UUID
      */
     @SuppressLint("NewApi")
-    private final HashMap<String, Long> trafficDataUuid = new HashMap<>();
+    private final ConcurrentHashMap<String, Long> trafficDataUuid = new ConcurrentHashMap<>();
 
     /**
      * 过滤后的数据集合
@@ -101,7 +102,7 @@ public class TrackManager {
                         trackObj = cacheTrack;
                         MessagePad.TrackedObject cache = cacheTrack.getCache();
                         if (cache != null) {
-                            //相对静止物体并且非obu数据，则不改变，为感知融合同位置物体，使用缓存数据做覆盖
+                            //相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
                             if (cacheTrack.relativeStatic()) {
                                 if (data.getColor() != null && !data.getColor().isEmpty()) {
                                     cache = cache.toBuilder().setColor(data.getColor()).build();
@@ -112,10 +113,10 @@ public class TrackManager {
                         uuid = findSameValue;
                         trackObj.updateObj(data);
                     } else {
-                        trackObj = new TrackObj(data);
+                        trackObj = new TrackObj(data,s2CellId,s2LatLng);
                     }
                 } else {
-                    trackObj = new TrackObj(data);
+                    trackObj = new TrackObj(data,s2CellId,s2LatLng);
                 }
             }
             mFilterTrafficData.put(uuid, trackObj.getCache());
@@ -150,17 +151,23 @@ public class TrackManager {
     }
 
     public synchronized void removeKey(String key) {
-        mMarkersCaches.remove(key);
         cellIdCaches.remove(key);
+        mMarkersCaches.remove(key);
+        WarningHelper.INSTANCE.remove(key);
         MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
                 .removeMarker(key);
     }
 
     @SuppressLint("NewApi")
     public void clearAll() {
+        MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).clearAllMarker();
+        cellIdCaches.clear();
         trafficDataUuid.clear();
         WarningHelper.INSTANCE.clear();
-        mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
+        mMarkersCaches.forEach((uuid, trackObj) -> {
+            trackObj.clear();
+        });
+        mMarkersCaches.clear();
     }
 
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java

@@ -5,8 +5,6 @@ import static com.mogo.eagle.core.function.business.identify.TrackManager.LIMIT_
 import android.annotation.SuppressLint;
 
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
-import com.mogo.eagle.core.data.map.CenterLine;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
@@ -22,26 +20,18 @@ public class TrackObj {
     private final CircleQueue circleQueue = new CircleQueue(6);
     private S2CellId s2CellId; //s2 id权重
     private S2LatLng s2LatLng; //s2 经纬度
-    private double 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 roadAngle;   //道路航向
     private int[] typeArray = new int[3];
     private int typeWeight;   //类型权重
     private double lat;
     private double lon;
     private double speedAverage;
 
-    public TrackObj(MessagePad.TrackedObject data) {
+    public TrackObj(MessagePad.TrackedObject data, S2CellId cellId, S2LatLng latLng) {
         circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
-        recentlyTime = data.getSatelliteTime();
         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
-        CenterLine centerLine = CallerMapUIServiceManager.INSTANCE.getMapUIController().getCenterLineInfo(lon, lat, -1);
-        if (centerLine != null && centerLine.getAngle() != 0) {
-            roadAngle = centerLine.getAngle();
-        }
-
+        s2LatLng = latLng;
+        s2CellId = cellId; //需要验证22前后
     }
 
     private MessagePad.TrackedObject cacheData;
@@ -50,14 +40,12 @@ public class TrackObj {
     public void updateObj(MessagePad.TrackedObject data) {
         cacheData = data;
         correct();
-        recentlyTime = data.getSatelliteTime();
         circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
     }
 
     private void correct() {
         calAverageSpeedAndType();
         calLoc();
-//        calHeading();
     }
 
     @SuppressLint("NewApi")
@@ -80,8 +68,10 @@ public class TrackObj {
             }
             speedAverage = cal / objQueueList.size();
         }
-        typeArray = Arrays.stream(typeArray).sorted().toArray();
-        typeWeight = typeArray[typeArray.length / 2] == 0 ? cacheData.getType() : typeArray[typeArray.length / 2];
+        if(typeArray.length > 0){
+            typeArray = Arrays.stream(typeArray).sorted().toArray();
+            typeWeight = typeArray[typeArray.length / 2] == 0 ? cacheData.getType() : typeArray[typeArray.length / 2];
+        }
 
         // 重新给静止物体赋值速度
         if (relativeStatic()) {
@@ -105,26 +95,6 @@ public class TrackObj {
         }
     }
 
-    private void calHeading() {
-        //更正数据,速度小于LIMIT_SPEED使用上一帧数据
-//        if (relativeStatic()) {
-//            if (roadAngle != 0.0) {
-//                CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
-//                if (centerLine != null && centerLine.getAngle() != 0) {
-//                    cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
-//                } else {
-//                    cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
-//                }
-//            } else {
-//                cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
-//            }
-//        }
-    }
-
-    public double getRecentlyTime() {
-        return recentlyTime;
-    }
-
     public long getCellIdPos() {
         return s2CellId.pos();
     }
@@ -167,12 +137,6 @@ public class TrackObj {
         }
     }
 
-    public boolean isFourWheelType() {
-        return typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getType()
-                && typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getType()
-                && typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
-    }
-
     private double[] getCenterPoint(List<ObjQueue> objQueueList) {
         int total = objQueueList.size();
         double X = 0, Y = 0, Z = 0;
@@ -202,12 +166,18 @@ public class TrackObj {
         return d;
     }
 
+    public void clear(){
+        circleQueue.clear();
+        s2CellId = null;
+        s2LatLng = null;
+        typeArray = null;
+    }
+
     @Override
     public String toString() {
         return "TrackObj{" +
                 "circleQueue=" + circleQueue +
                 ", s2CellId=" + s2CellId +
-                ", recentlyTime=" + recentlyTime +
                 ", cacheData=" + cacheData +
                 '}';
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt

@@ -64,7 +64,7 @@ object TrackerSourceColorHelper {
 
         //僵尸车
         if(data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE){
-            color = "#8F9AADFF"
+            color = "#AE7887FF"
         }
 
         // pnc预警

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt

@@ -139,6 +139,12 @@ object WarningHelper {
         }
     }
 
+    fun remove(key:String){
+        pncWarningBeautyTrafficData.remove(key)
+        pncWarningOriginTrafficData.remove(key)
+        obuWarningTrafficData.remove(key)
+    }
+
     fun clear() {
         pncWarningBeautyTrafficData.clear()
         pncWarningOriginTrafficData.clear()