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

优化显示逻辑

Browse Source
This commit is contained in:
wangcongtao
2021-03-18 14:47:11 +08:00
parent 849f465dde
commit 1a85937a12
9 changed files with 89 additions and 89 deletions
Download Patch File Download Diff File Expand all files Collapse all files

86
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,11 +1,9 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.graphics.BitmapFactory;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.util.ArrayMap;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
@@ -26,8 +24,6 @@ import java.util.Map;
import java.util.Random;
import java.util.concurrent.ConcurrentHashMap;
import static java.lang.Math.PI;
public
/**
* @author congtaowang
@@ -167,19 +163,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
renderAdasOneFrame( recognizedListResult, newAdasRecognizedMarkersCaches );
}
for (String id : mAdasRecognizedMarkersCaches.keySet()) {
for ( String id : mAdasRecognizedMarkersCaches.keySet() ) {
// 清除道路缓存
clearRoadCacheById(id);
clearRoadCacheById( id );
}
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mAdasRecognizedMarkersCaches );
mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches;
}
private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>();
private String markerRes;
private String markerRes2;
/**
* 绘制某个物体的一个数据
*
@@ -198,14 +189,15 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
final long start = System.currentTimeMillis();
ADASRecognizedResult lastPosition = mLastPositions.remove( uniqueKey );
double lastLon = -1;
double lastLat = -1;
if (lastPosition != null) {
if ( lastPosition != null ) {
lastLon = lastPosition.lon;
lastLat = lastPosition.lat;
}
double[] matchLonLat = getMatchLonLat(recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat);
double[] matchLonLat = getMatchLonLat( recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat );
recognizedListResult.lon = matchLonLat[0];
recognizedListResult.lat = matchLonLat[1];
@@ -224,70 +216,13 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if ( lastPosition != null ) {
long interval = computeAnimDuration( lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime );
MovingPoint startPoint = new MovingPoint();
startPoint.point = new MogoLatLng( lastPosition.lat, lastPosition.lon );
startPoint.marker = marker;
startPoint.delay = 0L;
startPoint.angle = ( float ) lastPosition.heading;
long cost = System.currentTimeMillis() - start;
final MovingPoint endPoint = new MovingPoint();
endPoint.point = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
endPoint.marker = marker;
endPoint.angle = ( float ) recognizedListResult.heading;
interval -= cost;
endPoint.delay = interval;
// method 1
final IMogoMarker renderRef = marker;
final long intervalRef = interval;
final MogoLatLng renderLoc = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
long cost = System.currentTimeMillis() - start;
final long intervalRef = interval - cost;
SimpleHandlerThreadPool.getInstance().postRender( () -> {
renderRef.addDynamicAnchorPosition( endPoint.point, endPoint.angle, intervalRef );
//
// // 原坐标
// MogoMarkerOptions options2 = new MogoMarkerOptions();
// options2.gps( true )
// .position( new MogoLatLng( lat, lon ) )
// .anchor( 0.5f, 0.5f )
// .rotate( endPoint.angle );
// if ( TextUtils.isEmpty( markerRes2 ) ) {
// options2.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.sy ) );
// } else {
// options2.resName( markerRes2 );
// }
// IMogoMarker marker2 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( TAG, options2 );
// if ( TextUtils.isEmpty( markerRes2 ) ) {
// markerRes2 = marker2.getMarkerResName();
// }
//
// // 匹配坐标
// MogoMarkerOptions options = new MogoMarkerOptions();
// options.gps( true )
// .position( endPoint.point )
// .anchor( 0.5f, 0.5f )
// .rotate( endPoint.angle );
// if ( TextUtils.isEmpty( markerRes ) ) {
// options.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.sr ) );
// } else {
// options.resName( markerRes );
// }
// IMogoMarker marker1 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( TAG, options );
// if ( TextUtils.isEmpty( markerRes ) ) {
// markerRes = marker1.getMarkerResName();
// }
renderRef.addDynamicAnchorPosition( renderLoc, ( float ) recognizedListResult.heading, intervalRef );
} );
// method 2
// List< MovingPoint > points = interpolate( startPoint, endPoint, interval );
// Message msg = new Message();
// MovingPoints obj = new MovingPoints();
// obj.points = points;
// msg.obj = obj;
// msg.what = MSG_MOVE_POINTS;
// mRenderThreadHandler.sendMessage( msg );
// Logger.d( TAG, "anim duration: %s, points size = %s", interval, points.size() );
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
@@ -296,8 +231,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
SpeedData obj = new SpeedData();
obj.context = mContext;
obj.marker = marker;
// obj.speed = match ? 1.0 : 0.0;
obj.speed = recognizedListResult.speed;//;lineCounter++
obj.speed = recognizedListResult.speed;
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
mRenderThreadHandler.sendMessage( msg );

69
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -10,6 +10,7 @@ import android.util.Log;
import android.view.ViewGroup;
import android.widget.TextView;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
@@ -61,6 +62,7 @@ class BaseDrawer {
if ( mWorkThreadHandler == null ) {
initWorkThreadHandler();
}
init();
}
private static Handler mWorkThreadHandler;
@@ -144,6 +146,9 @@ class BaseDrawer {
return R.raw.people;
}
private void init() {
}
/**
* @param fromType {@link com.mogo.realtime.entity.CloudRoadData}
* @return
@@ -155,7 +160,7 @@ class BaseDrawer {
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
if ( fromType == CloudRoadData.FROM_ADAS ) {
// 灰色
return "#D8D8D8FF";
return "#5A8DFFFF";
} else if ( fromType == CloudRoadData.FROM_ROAD_UNIT ) {
// 绿色
return "#3FE792FF";
@@ -172,6 +177,58 @@ class BaseDrawer {
return "#D8D8D8FF";
}
/**
* 根据速度、经纬度计算距离判断车辆颜色
*
* @param speed 车速
* @param lon 经度
* @param lat 纬度
* @return 实际车辆颜色
*/
protected String getModelRenderColor( double speed, double lon, double lat, double angle ) {
// 距离策略
double curLon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
double curLat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
double distance = CoordinateUtils.calculateLineDistance( lon, lat, curLon, curLat ) * 100;
if ( distance < 50 ) {
return Car3DModelColor.Dangerous.color;
} else if ( distance < 100 && distance >= 50 ) {
return Car3DModelColor.Warming.color;
}
// 速度策略
double curSpeed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
if ( curSpeed > 0 && speed > curSpeed ) {
double rate = ( ( speed - curSpeed ) / curSpeed ) * 100;
if ( rate >= 50 ) {
return Car3DModelColor.Dangerous.color;
} else if ( rate > 10 && rate < 50 ) {
return Car3DModelColor.Warming.color;
}
}
// 默认颜色
return Car3DModelColor.Normal.color;
}
/**
* 模型颜色
*/
public enum Car3DModelColor {
Normal( "#D8D8D8FF" ),
Warming( "#FFD53EFF" ),
Dangerous( "#FF3C45FF" );
private String color;
Car3DModelColor( String color ) {
this.color = color;
}
}
private TextView mSpeedView = null;
/**
@@ -273,8 +330,8 @@ class BaseDrawer {
return matchRoad;
}
public void clearRoadCacheById(String id) {
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById(id);
public void clearRoadCacheById( String id ) {
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById( id );
}
/**
@@ -312,15 +369,11 @@ class BaseDrawer {
if ( duration % MAP_RENDER_FRAME_FREQUENCY < MAP_RENDER_FRAME_FREQUENCY / 2 ) {
interpolateFrame -= 1;
}
// if ( interpolateFrame == 0 ) {
// interpolateFrame = 1;
// }
List< MovingPoint > arrayList = new ArrayList<>();
double _angle = ( end.angle + start.angle ) / 2;
if ( Math.abs( end.angle - start.angle ) > 5 ) {
_angle = Math.atan2( Math.abs( start.point.lon - end.point.lon ), Math.abs( start.point.lat - end.point.lat ) ) * ( 180 / PI );
}
// arrayList.add( start );
if ( interpolateFrame > 0 ) {
double lonStep = ( end.point.lon - start.point.lon ) / ( interpolateFrame + 1 );
double latStep = ( end.point.lat - start.point.lat ) / ( interpolateFrame + 1 );
@@ -388,7 +441,7 @@ class BaseDrawer {
}
protected double[] getMatchLonLat(String id,double lon,double lat,double heading,double lastLon,double lastLat){
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( id, lon,
double[] matchedPoint = matchRoad( id, lon,
lat,
heading,
true

2
modules/mogo-module-service/src/main/assets/adas2.txt
View File

File diff suppressed because one or more lines are too long

2
modules/mogo-module-service/src/main/assets/adas3.txt
View File

File diff suppressed because one or more lines are too long

2
modules/mogo-module-service/src/main/assets/adas4.txt
View File

File diff suppressed because one or more lines are too long

2
modules/mogo-module-service/src/main/assets/adas5.txt
View File

File diff suppressed because one or more lines are too long

2
modules/mogo-module-service/src/main/assets/adas6.txt
View File

File diff suppressed because one or more lines are too long

6
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
View File

@@ -170,6 +170,12 @@ public interface IMogoADASController extends IProvider {
*/
double getLastLon();
/**
* 获取车身定位经度
* @return
*/
double getLastSpeed();
/**
* 结束自动驾驶
*/

7
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -403,6 +403,7 @@ public class MogoADASController implements IMogoADASController {
stateInf.setValues( bean );
mLastLon = ownerCarStateModel.getLon();
mLastLat = ownerCarStateModel.getLat();
mSpeed = ownerCarStateModel.getGnss_speed();
if ( mMogoAdasCarDataCallback != null ) {
mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInf );
}
@@ -454,6 +455,12 @@ public class MogoADASController implements IMogoADASController {
private double mLastLon;
private double mLastLat;
private double mSpeed;
@Override
public double getLastSpeed() {
return mSpeed;
}
public double getLastLat() {
return mLastLat;