From 217556721d4e7afc07e2a30e78a4c223db74c7a0 Mon Sep 17 00:00:00 2001 From: zhongchao Date: Thu, 21 Apr 2022 11:01:58 +0800 Subject: [PATCH] remove test class --- .../function/map/IdentifyDataDrawerTest.java | 212 ------------------ 1 file changed, 212 deletions(-) delete mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java deleted file mode 100644 index a5f40d4a71..0000000000 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawerTest.java +++ /dev/null @@ -1,212 +0,0 @@ -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.utilcode.mogo.logger.CallerLogger; -import com.mogo.eagle.core.utilcode.util.UiThreadHandler; -import com.mogo.map.MogoMap; -import com.mogo.map.MogoMarkerManager; -import com.mogo.module.common.MogoApisHandler; -import com.mogo.module.common.constants.AdasRecognizedType; - -import java.util.ArrayList; -import java.util.List; -import java.util.concurrent.ConcurrentHashMap; - -import mogo.telematics.pad.MessagePad; - -/** - * @author xiaoyuzhou - * @date 2021/10/19 10:45 上午 - * 域控制器识别信息绘制 - */ -public class IdentifyDataDrawerTest { - private static final String TAG = "IdentifyDataDrawer"; - - protected final Context mContext; - private static volatile IdentifyDataDrawerTest sInstance; - - /** - * 上一帧数据的缓存 - */ - private static final ConcurrentHashMap mMarkersCaches = new ConcurrentHashMap<>(); - - private static final ConcurrentHashMap algoCache = new ConcurrentHashMap<>(); - - /** - * 记录每次实际绘制的交通元素UUID - */ - private final ArrayList trafficDataUuidList = new ArrayList<>(); - /** - * 过滤后的数据集合 - */ - private final ArrayList mFilterTrafficData = new ArrayList<>(); - - private IdentifyDataDrawerTest() { - mContext = AbsMogoApplication.getApp(); - addPreVehicleModel(); - } - - public static IdentifyDataDrawerTest getInstance() { - if (sInstance == null) { - synchronized (IdentifyDataDrawerTest.class) { - if (sInstance == null) { - sInstance = new IdentifyDataDrawerTest(); - } - } - } - return sInstance; - } - - public synchronized void release() { - sInstance = null; - } - - /** - * 渲染 adas 识别的数据 - * - * @param resultList adas感知融合数据 - */ - @SuppressLint("NewApi") - public void renderAdasRecognizedResult(List resultList) { - if (resultList == null || resultList.isEmpty()) { - clearOldMarker(); - CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……"); - return; - } - - if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { - clearOldMarker(); - CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式"); - return; - } - - //清除缓存 - for (MessagePad.TrackedObject data : resultList) { - if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) { - trafficDataUuidList.remove("" + data.getUuid()); - } - } - trafficDataUuidList.forEach(uuid -> { - mMarkersCaches.remove(uuid); - algoCache.remove(uuid); - }); - - ArrayList filterList = filterTrafficData(resultList); - if (filterList.size() > 0) { - // 绘制新数据 - MogoMarkerManager.getInstance(mContext) - .updateBatchMarkerPosition(filterList); - } - } - - /** - * 数据过滤器 - * - * @return 过滤后的数据集合 - */ - private ArrayList filterTrafficData(List trafficData) { - mFilterTrafficData.clear(); - trafficDataUuidList.clear(); - for (MessagePad.TrackedObject data : trafficData) { - // 过滤掉未知感知数据 - 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; - } - - MessagePad.TrackedObject cacheData = mMarkersCaches.get("" + data.getUuid()); - double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheData.getLongitude(), cacheData.getLatitude(), data.getLongitude(), data.getLatitude()); - CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + data.getUuid() + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading)); - -// double heading = kalmanFilter(data); - MessagePad.TrackedObject correctData = data.toBuilder().setHeading(heading).build(); - mFilterTrafficData.add(correctData); - //更新已存在的感知物体数据 - mMarkersCaches.put("" + correctData.getUuid(), correctData); - trafficDataUuidList.add("" + correctData.getUuid()); - } - return mFilterTrafficData; - } - - private double kalmanFilter(MessagePad.TrackedObject data) { - String uuid = "" + data.getUuid(); - if (algoCache.containsKey(uuid)) { - Object o = algoCache.get(uuid); - KalmanFilter kf = (KalmanFilter) o; - assert kf != null; - double[] lonLat = kf.filter(data.getLongitude(), data.getLatitude()); - algoCache.put(uuid, kf); - MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid); - assert cacheTrackObj != null; - double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]); - CallerLogger.INSTANCE.d(M_HMI + "arrow47", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + " ---- " + (data.getHeading() - heading)); - return heading; - } else { - double r = 0.00005; - if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) { - r = 0.0001; - } - algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r)); - return data.getHeading(); - } - } - - /** - * 清除旧的 marker 数据 - */ - public void clearOldMarker() { - for (String uuid : trafficDataUuidList) { - MogoMarkerManager.getInstance(mContext) - .removeMarker(uuid); - } - trafficDataUuidList.clear(); - } - - private void addPreVehicleModel() { - CallerLogger.INSTANCE.d(TAG, "添加感知模型到地图中……"); - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi="); - - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE, "添加感知模型到地图中……preVehicleStrPeople="); - - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE, "添加感知模型到地图中……preVehicleStrBicycle="); - - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE, "添加感知模型到地图中……preVehicleStrTaChe="); - - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO, "添加感知模型到地图中……preVehicleStrMoto="); - - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS, "添加感知模型到地图中……preVehicleStrBus="); - - addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK, "添加感知模型到地图中……preVehicleStrTruck="); - } - - /** - * 添加模型到地图中 - * - * @param typeTrafficIdWeiZhi - * @param s - */ - private void addPreVehicleModelWeiZhi(TrafficTypeEnum typeTrafficIdWeiZhi, String s) { - String preVehicleStrWeiZhi = MogoMarkerManager.getInstance(mContext) - .addPreVehicleModel(typeTrafficIdWeiZhi.getType(), - typeTrafficIdWeiZhi.getTraffic3DIconId()); - CallerLogger.INSTANCE.d(TAG, s + preVehicleStrWeiZhi); - - if (preVehicleStrWeiZhi == null) { - UiThreadHandler.postDelayed(new Runnable() { - @Override - public void run() { - CallerLogger.INSTANCE.w(TAG, "添加感知模型到地图中失败，尝试重复添加……"); - addPreVehicleModelWeiZhi(typeTrafficIdWeiZhi, s); - } - }, 1000L); - } - } - -}