wait to finish

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

@@ -1,8 +1,59 @@
 package com.mogo.eagle.core.function.map;
 
+import android.util.ArrayMap;
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import mogo.telematics.pad.MessagePad;
+
 public class TrackManager {
 
-    private static final class TrackOwner{
-//        private static final
+    private static final class TrackOwner {
+        private static final TrackManager trackManager = new TrackManager();
     }
+
+    public static TrackManager getInstance() {
+        return TrackOwner.trackManager;
+    }
+
+    /**
+     * marker缓存队列
+     */
+    private final ArrayMap<String, TrackObj> mMarkersCaches = new ArrayMap<>();
+
+    /**
+     * 过滤后的数据集合
+     */
+    private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
+
+
+    public ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
+        //清空上次返回数据，做到缓存复用
+        mFilterTrafficData.clear();
+        //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
+        for (MessagePad.TrackedObject data : trafficData) {
+            // todo 过滤掉未知感知数据，后面会依据危险等级显示
+            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;
+            }
+            String uuid = "" + data.getUuid();
+            TrackObj trackObj = mMarkersCaches.get(uuid);
+            if (trackObj != null) {
+                data = trackObj.updateObj(data);
+                mFilterTrafficData.add(data);
+            } else {
+                trackObj = new TrackObj(data);
+                //todo 判断是否有重合元素 google s2
+
+            }
+            mMarkersCaches.put(uuid, trackObj);
+        }
+        return mFilterTrafficData;
+    }
+
 }

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

@@ -1,13 +1,28 @@
 package com.mogo.eagle.core.function.map;
 
+import com.mogo.eagle.core.utilcode.geometry.S2CellId;
+import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
+
+import mogo.telematics.pad.MessagePad;
+
 public class TrackObj {
 
     private final CircleQueue circleQueue = new CircleQueue(10);
-    private final int[] observationType = new int[3]; //类型变化的观测数组
+    private final KalmanFilter kalmanFilter; //卡尔曼结果
+    private S2CellId s2CellId; //s2 id权重
     private long recentlyTime;
     private double headingDelta; //航向角德尔塔
     private double speedDelta;   //速度德尔塔
     private double typeWeight;   //类型权重
+    private final int[] observationType = new int[3]; //类型变化的观测数组
+
+    public TrackObj(MessagePad.TrackedObject data) {
+        kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
+        circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getType()));
+        recentlyTime = Double.valueOf(data.getSatelliteTime()).longValue();
+        S2LatLng s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude());
+        s2CellId = S2CellId.fromLatLng(s2LatLng).parent(21); //需要验证21前后
+    }
 
     public long getRecentlyTime() {
         return recentlyTime;
@@ -41,7 +56,10 @@ public class TrackObj {
         this.typeWeight = typeWeight;
     }
 
-    public void updateObj() {
-
+    //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) {
+//                assert kf != null;
+//                double[] lonLat = kf.filter(data.getLongitude(), data.getLatitude());
+        return data;
     }
 }