Merge branch 'dev_robotaxi-d_230912_6.1.0' into base_3.4.0-map-sdk

2023-09-26 17:43:46 +08:00
parent aebb330e89 bee6344ce3
commit 1c9271265a
4 changed files with 132 additions and 109 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -131,89 +131,91 @@ class AiRoadMarker {
        l2: CenterLine?,
        heading: Double
    ) {
-        if (countDown.get() != 2) {
-            return
-        }
-        if (l1 == null || l2 == null) {
-            V2XBizTrace.onAck("$TAG --- marker --- 3 --- line null return ----", "")
-            return
-        }
-        if (l1.points.isEmpty() || l2.points.isEmpty()) {
-            V2XBizTrace.onAck("$TAG --- marker --- 3 --- line points null return ----", "")
-            return
-        }
-        V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
-        val points = LinkedList<MogoLatLng>()
-        if (l2.points.isNotEmpty()) {
-            points.addAll(l2.points.reversed().map {
-                MogoLatLng(it.latitude, it.longitude)
-            })
-        }
-        val centerX = marker.poi_lon
-        val centerY = marker.poi_lat
-        V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
-        val farthestPoint = marker.polygon?.let {
-            var find: Pair<Double, Double> = Pair(centerX, centerY)
-            var min = Long.MAX_VALUE
-            for (p in it) {
-                val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
-                    centerX,
-                    centerY,
-                    p.first,
-                    p.second,
-                    heading
-                )
-                if (angle < min) {
-                    min = angle
-                    find = p
+        v2nDrawHandler.post {
+            if (countDown.get() != 2) {
+                return@post
+            }
+            if (l1 == null || l2 == null) {
+                V2XBizTrace.onAck("$TAG --- marker --- 3 --- line null return ----", "")
+                return@post
+            }
+            if (l1.points.isEmpty() || l2.points.isEmpty()) {
+                V2XBizTrace.onAck("$TAG --- marker --- 3 --- line points null return ----", "")
+                return@post
+            }
+            V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
+            val points = LinkedList<MogoLatLng>()
+            if (l2.points.isNotEmpty()) {
+                points.addAll(l2.points.reversed().map {
+                    MogoLatLng(it.latitude, it.longitude)
+                })
+            }
+            val centerX = marker.poi_lon
+            val centerY = marker.poi_lat
+            V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
+            val farthestPoint = marker.polygon?.let {
+                var find: Pair<Double, Double> = Pair(centerX, centerY)
+                var min = Long.MAX_VALUE
+                for (p in it) {
+                    val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                        centerX,
+                        centerY,
+                        p.first,
+                        p.second,
+                        heading
+                    )
+                    if (angle < min) {
+                        min = angle
+                        find = p
+                    }
+                }
+                MogoLatLng(find.second, find.first)
+            } ?: MogoLatLng(centerY, centerX)
+            marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
+            V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
+            if (l1.points.isNotEmpty()) {
+                for (l in l1.points) {
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                            farthestPoint.lon,
+                            farthestPoint.lat,
+                            l.longitude,
+                            l.latitude,
+                            (heading + 180)
+                        ) < 90L
+                    ) {
+                        points.add(l.let { MogoLatLng(it.latitude, it.longitude) })
+                    }
                }
            }
-            MogoLatLng(find.second, find.first)
-        } ?: MogoLatLng(centerY, centerX)
-        marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
-        V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
-        if (l1.points.isNotEmpty()) {
-            for (l in l1.points) {
-                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
-                        farthestPoint.lon,
-                        farthestPoint.lat,
-                        l.longitude,
-                        l.latitude,
-                        (heading + 180)
-                    ) < 90L
-                ) {
-                    points.add(l.let { MogoLatLng(it.latitude, it.longitude) })
-                }
+            if (points.size <= 1) {
+                return@post
            }
+            val evaluator = ArgbEvaluator()
+            val interceptor = DecelerateInterpolator(1.5f)
+            val total = points.size
+            val colors = ArrayList<Int>()
+            (0..total).forEach { i ->
+                colors += evaluator.evaluate(
+                    interceptor.getInterpolation(i * 1f / total),
+                    START_COLOR,
+                    END_COLOR
+                ) as Int
+            }
+            builder.points(points)
+            builder.colors(colors)
+            builder.setVisible(true)
+            V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
+            val line = overlayManager?.showOrUpdateLine(builder.build())
+            if (line != null) {
+                this.line.set(line)
+                wrapper.addLine(line)
+            }
+            wrapper.onRemoved = { id ->
+                aiMakers.remove(id)
+            }
+            MarkerRemoveManager.addMarker(wrapper)
+            countDown.set(0)
        }
-        if (points.size <= 1) {
-            return
-        }
-        val evaluator = ArgbEvaluator()
-        val interceptor = DecelerateInterpolator(1.5f)
-        val total = points.size
-        val colors = ArrayList<Int>()
-        (0..total).forEach { i ->
-            colors += evaluator.evaluate(
-                interceptor.getInterpolation(i * 1f / total),
-                START_COLOR,
-                END_COLOR
-            ) as Int
-        }
-        builder.points(points)
-        builder.colors(colors)
-        builder.setVisible(true)
-        V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
-        val line = overlayManager?.showOrUpdateLine(builder.build())
-        if (line != null) {
-            this.line.set(line)
-            wrapper.addLine(line)
-        }
-        wrapper.onRemoved = { id ->
-            aiMakers.remove(id)
-        }
-        MarkerRemoveManager.addMarker(wrapper)
-        countDown.set(0)
    }

    private fun removeLine() {
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoData.kt
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoData.kt
@@ -12,7 +12,7 @@ interface IMogoData {
     * @param lon 经度
     * @param lat 纬度
     * @param angle 角度
-     * @param call 回调
+     * @param call 回调(主线程)
     */
    fun getCenterLineInfo(lon: Double, lat: Double, angle: Float, call: ((CenterLine?) -> Unit))

@@ -21,7 +21,7 @@ interface IMogoData {
     * @param lon 经度
     * @param lat 纬度
     * @param angle 角度
-     * @param call 回调
+     * @param call 回调(主线程)
     */
    fun getCenterLineRangeInfo(
        lon: Double,
@@ -36,7 +36,7 @@ interface IMogoData {
     * @param lon 经度
     * @param lat 纬度
     * @param angle 角度
-     * @param call 回调
+     * @param call 回调(主线程)
     */
    fun getLimitSpeed(lon: Double, lat: Double, angle: Float, call: ((Int) -> Unit))

@@ -45,7 +45,7 @@ interface IMogoData {
     * @param lon 经度
     * @param lat 纬度
     * @param angle 角度
-     * @param call 回调
+     * @param call 回调(主线程)
     */
    fun getRoadAngle(lon: Double, lat: Double, angle: Float, call: ((Double) -> Unit))

--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
@@ -3,6 +3,8 @@ package com.mogo.map
 import android.graphics.Point
 import android.graphics.Rect
 import android.os.Bundle
+import android.os.Handler
+import android.os.HandlerThread
 import android.text.TextUtils
 import android.view.MotionEvent
 import android.view.View
@@ -79,12 +81,20 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
    override var currentMapVisualAngle: VisualAngleMode = VisualAngleMode.MODE_MEDIUM_SIGHT
        private set

+    //地图的接口回调操作都在主线程返回，基于此类回调，业务在使用时注意切换子线程/线程池处理
+    private val handler by lazy {
+        val thread = HandlerThread(TAG)
+        thread.start()
+        Handler(thread.looper)
+    }
+
    init {
        i(M_MAP + TAG, "AMapViewWrapper: init")
        this.mMapView = mMapView
        initViews()
        initListeners()
        mIMap = AMapWrapper(this.mMapView.getMapAutoViewHelper(), this.mMapView, this)
+        handler.post {}
    }

    private fun initViews() {
@@ -204,8 +214,10 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
     * @param laneId
     */
    override fun onRoadIdInfo(roadId: String?, laneId: String?) {
-        if (roadId != null && !TextUtils.isEmpty(roadId)) {
-            invokeListenersOnRoadIdGet(roadId)
+        handler.post {
+            if (roadId != null && !TextUtils.isEmpty(roadId)) {
+                invokeListenersOnRoadIdGet(roadId)
+            }
        }
    }

@@ -214,25 +226,30 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
            //对驶入驶出路口做二次过滤，防止多次回调
            if (it.status == 0 && newValue!!.status == 1) {
                //径直进入路口
-                i("$M_MAP$TAG", "进入路口 :${newValue.cross_id}")
-                invokeRoadChange(0, newValue)
+                handler.post {
+//                    i("$M_MAP$TAG", "进入路口 :${newValue.cross_id}")
+                    invokeRoadChange(0, newValue)
+                }
            }
            if ((it.status == 1 && newValue!!.status == 0)) {
                //径直驶出路口
-                i("$M_MAP$TAG", "驶出路口 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
-                invokeRoadChange(1, newValue)
+                handler.post {
+//                i("$M_MAP$TAG", "驶出路口 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
+                    invokeRoadChange(1, newValue)
+                }
                return@let
            }
            if ((newValue!!.cross_id_end.isNotEmpty() && oldValue.cross_id_end != newValue.cross_id_end)) {
                //路口发生变化
-                i("$M_MAP$TAG", "路段发生变化 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
-                invokeRoadChange(2, newValue)
+                handler.post {
+//                i("$M_MAP$TAG", "路段发生变化 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
+                    invokeRoadChange(2, newValue)
+                }
            }
        }
    }

    override fun onRoadCrossInfo(roadCross: RoadCross?) {
-        d(M_MAP + TAG, "onRoadCrossInfo:roadCross$roadCross")
        roadCross?.let {
            this.roadCross = it
        }
@@ -240,9 +257,11 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle

    override fun onStopLineInfo(stopLine: StopLine?) {
        stopLine?.let {
-            if (it.road_id.isNotEmpty() && it.points.size > 0) {
-                d(M_MAP + TAG, "onStopLineInfo: $it")
-                invokeListenersOnStopLineGet(it)
+            handler.post {
+                if (it.road_id.isNotEmpty() && it.points.size > 0) {
+                    d(M_MAP + TAG, "onStopLineInfo: $it")
+                    invokeListenersOnStopLineGet(it)
+                }
            }
        }
    }
@@ -560,20 +579,21 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle

    override fun changeCurrentIcon(iconId: Int) {
        if (checkAMapView()) {
-            val changeResult = mMapView.getMapAutoViewHelper()!!.getMyLocationStyle()!!
-                .myLocationIcon(iconId, true)
-            if (!changeResult) {
-                val count = reChangeIconCount.incrementAndGet()
-                MapTraceUtil.log(
-                    "", ChainConstant.CHAIN_CODE_HD_MAP_ICON_SET, TAG,
-                    mapOf("changeCurrentIcon-count" to "$count")
-                )
-                if (count >= 3) {
-                    return
+            handler.post {
+                val changeResult = mMapView.getMapAutoViewHelper()!!.getMyLocationStyle()!!
+                    .myLocationIcon(iconId, true)
+                if (!changeResult) {
+                    val count = reChangeIconCount.incrementAndGet()
+                    MapTraceUtil.log(
+                        "", ChainConstant.CHAIN_CODE_HD_MAP_ICON_SET, TAG,
+                        mapOf("changeCurrentIcon-count" to "$count")
+                    )
+                    if (count >= 3) {
+                        return@post
+                    }
+                    handler.postDelayed({ changeCurrentIcon(iconId) },300L)
+                    reChangeIconCount.set(0)
                }
-                UiThreadHandler.postDelayed({ changeCurrentIcon(iconId) }, 3000L,
-                    UiThreadHandler.MODE.QUEUE)
-                reChangeIconCount.set(0)
            }
        }
    }
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MapDataWrapper.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MapDataWrapper.kt
@@ -17,6 +17,7 @@ import com.zhidaoauto.map.sdk.open.data.MapDataApi

 /**
 * 地图数据工具,涉及到数据调用可能会有耗时，建议IO操作
+ * 地图call回调在主线程，有需要io操作的业务建议切换线程或由MapDataWrapper线程池操作
 */
 object MapDataWrapper : IMogoData {

@@ -109,7 +110,7 @@ object MapDataWrapper : IMogoData {
     * @param lon 经度
     * @param lat 纬度
     * @param angle 角度
-     * @param call 回调
+     * @param call 回调(主线程)
     */
    @Synchronized
    override fun getRoadAngle(lon: Double, lat: Double, angle: Float, call: ((Double) -> Unit)) {