diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java index 8c989e773c..128c7aa062 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java @@ -1,11 +1,13 @@ package com.mogo.eagle.core.function.map; +import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI; + +import android.annotation.SuppressLint; import android.content.Context; import com.mogo.commons.AbsMogoApplication; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.enums.TrafficTypeEnum; -import com.mogo.eagle.core.data.traffic.TrafficData; import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; import com.mogo.eagle.core.utilcode.util.UiThreadHandler; import com.mogo.map.MogoMarkerManager; @@ -31,12 +33,12 @@ public class IdentifyDataDrawer { /** * 上一帧数据的缓存 */ - private static final ConcurrentHashMap mMarkersCaches = new ConcurrentHashMap<>(); + private static final ConcurrentHashMap mMarkersCaches = new ConcurrentHashMap<>(); /** * 已经感知不到的脏数据 */ - private final ConcurrentHashMap mDirtyPositions = new ConcurrentHashMap<>(); + private final ConcurrentHashMap firstData = new ConcurrentHashMap<>(); /** * 记录每次实际绘制的交通元素UUID */ @@ -71,6 +73,7 @@ public class IdentifyDataDrawer { * * @param resultList adas感知融合数据 */ + @SuppressLint("NewApi") public void renderAdasRecognizedResult(List resultList) { if (resultList == null || resultList.isEmpty()) { clearOldMarker(); @@ -84,35 +87,26 @@ public class IdentifyDataDrawer { return; } - // 循环将集合中的数据提取记录 - - for (MessagePad.TrackedObject trafficData : resultList) { - // 过滤掉未知感知数据 - if (!FunctionBuildConfig.isDrawUnknownIdentifyData && - trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) { - //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染"); - continue; + //清除缓存 + for (MessagePad.TrackedObject data : resultList) { + if(trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())){ + trafficDataUuidList.remove(data.getUuid()); } - trafficDataUuidList.add("" + trafficData.getUuid()); } -// // 找出上一针数据中已经不在本次数据中存在的数据 -// for (String uuid : mMarkersCaches.keySet()) { -// if (!trafficDataUuidList.contains(uuid)) { -// mDirtyPositions.put(uuid, mMarkersCaches.get(uuid)); -// } -// } -// // 移除脏数据 -// for (String uuid : mDirtyPositions.keySet()) { -// MogoApisHandler.getInstance().getApis() -// .getMapServiceApi() -// .getMarkerManager(mContext) -// .removeMarker(uuid); -// } - - // 绘制新数据 - MogoMarkerManager.getInstance(mContext) - .updateBatchMarkerPosition(filterTrafficData(resultList)); + trafficDataUuidList.forEach(uuid -> { + mMarkersCaches.remove(uuid); + }); + CallerLogger.INSTANCE.d(M_HMI + "arrow47", "origin data size : " + resultList.size()); + ArrayList filterList = filterTrafficData(resultList); + if (filterList.size() > 0) { + // 绘制新数据 + MogoMarkerManager.getInstance(mContext) + .updateBatchMarkerPosition(filterList); + } + CallerLogger.INSTANCE.d(M_HMI + "arrow47", "first data size : " + firstData.size() + " , mMarkersCaches : " + mMarkersCaches.size()); + // 首次未添加的感知物在调用完绘制方法后再塞入cache map + mMarkersCaches.putAll(firstData); } /** @@ -121,14 +115,39 @@ public class IdentifyDataDrawer { * @return 过滤后的数据集合 */ private ArrayList filterTrafficData(List trafficData) { + firstData.clear(); mFilterTrafficData.clear(); + trafficDataUuidList.clear(); for (MessagePad.TrackedObject data : trafficData) { // 过滤掉未知感知数据 - if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) { + if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) { //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染"); continue; } - mFilterTrafficData.add(data); + + //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map + MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid()); + if (cacheData != null) { + //todo 测试航向角修正时打开 + MessagePad.TrackedObject correctData = null; + //todo 判断点是不是在当前车道线上，如果是，判断差值，进行修正 +// if (Math.abs(cacheData.getHeading() - data.getHeading()) > 90) { +// CallerLogger.INSTANCE.d(M_HMI + "arrow47","uuid修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading()); +// correctData = data.toBuilder().setHeading(cacheData.getHeading()).build(); +// } + if (correctData != null) { + mFilterTrafficData.add(correctData); + //更新已存在的感知物体数据 + mMarkersCaches.put("" + data.getUuid(), correctData); + } else { + mFilterTrafficData.add(data); + //更新已存在的感知物体数据 + mMarkersCaches.put("" + data.getUuid(), data); + } + } else { + firstData.put("" + data.getUuid(), data); + } + trafficDataUuidList.add("" + data.getUuid()); } return mFilterTrafficData; } diff --git a/modules/mogo-module-common/build.gradle b/modules/mogo-module-common/build.gradle index 68289ac3e8..af317b04ce 100644 --- a/modules/mogo-module-common/build.gradle +++ b/modules/mogo-module-common/build.gradle @@ -81,6 +81,7 @@ dependencies { } else { api project(":libraries:mogo-map") api project(":libraries:mogo-map-api") + implementation project(':libraries:mogo-adas-data') api project(":foudations:mogo-commons") api project(':services:mogo-service-api') api project(':core:mogo-core-utils')