修改绘制感知数据方式为批量更新数据，尝试解决绘制卡顿的问题

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
2022-01-12 17:57:36 +08:00
parent 351bda6e8a
commit 2856494644
10 changed files with 250 additions and 192 deletions
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt
@@ -36,8 +36,8 @@ enum class TrafficTypeEnum(
    TYPE_TRAFFIC_ID_TA_CHE(
        3,
        "他车",
-        R.raw.special_vehicle,
-        R.raw.special_vehicle
+        R.raw.othercar,
+        R.raw.othercar
    ),
    TYPE_TRAFFIC_ID_MOTO(
        4,
--- a/core/mogo-core-res/src/main/res/raw/othercar.nt3d
+++ b/core/mogo-core-res/src/main/res/raw/othercar.nt3d
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapWrapper.java
@@ -3,6 +3,7 @@ package com.mogo.map.impl.custom;
 import android.content.Context;
 import android.graphics.Point;

+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.IMogoMap;
 import com.mogo.map.IMogoUiSettings;
 import com.mogo.map.impl.custom.marker.AMapInfoWindowAdapter;
@@ -21,7 +22,9 @@ import com.zhidaoauto.map.sdk.open.MapAutoApi;
 import com.zhidaoauto.map.sdk.open.data.MapDataApi;
 import com.zhidaoauto.map.sdk.open.data.SinglePointRoadInfo;
 import com.zhidaoauto.map.sdk.open.marker.Marker;
+import com.zhidaoauto.map.sdk.open.marker.MarkerHelper;
 import com.zhidaoauto.map.sdk.open.marker.MarkerOptions;
+import com.zhidaoauto.map.sdk.open.marker.MarkerSimpleData;
 import com.zhidaoauto.map.sdk.open.marker.MultiPointOverlayOptions;
 import com.zhidaoauto.map.sdk.open.poyline.Polyline;
 import com.zhidaoauto.map.sdk.open.poyline.PolylineOptions;
@@ -98,6 +101,42 @@ public class AMapWrapper implements IMogoMap {
        return mogoMarker;
    }

+    @Override
+    public void updateBatchMarkerPositon(ArrayList<TrafficData> optionsArrayList) {
+        if (!checkAMap()) {
+            return;
+        }
+        ArrayList<MarkerSimpleData> markerOptionsArrayList = new ArrayList<>();
+        for (TrafficData mogoMarkerOptions : optionsArrayList) {
+            MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(mogoMarkerOptions);
+            if (markerOptions == null) {
+                Logger.e(TAG, "marker参数为空");
+                break;
+            }
+            markerOptionsArrayList.add(markerOptions);
+        }
+
+        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList,false,8.0f,0,100);
+    }
+
+    @Override
+    public void addPreVehicleModel(int type, int modelRes) {
+        try {
+            MarkerHelper.INSTANCE.addPreVehicleModel(type, modelRes);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void removeMarker(String uuidString) {
+        try {
+            MarkerHelper.INSTANCE.removeMarker(uuidString);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
    @Override
    public ArrayList<IMogoMarker> addMarkers(String tag, ArrayList<MogoMarkerOptions> options, boolean moveToCenter) {
        if (!checkAMap()) {
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
@@ -7,6 +7,7 @@ import android.view.View;

 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.overlay.MogoPolylineOptions;
 import com.mogo.map.search.geo.MogoGeocodeAddress;
@@ -26,6 +27,7 @@ import com.zhidaoauto.map.sdk.open.camera.CameraPosition;
 import com.zhidaoauto.map.sdk.open.marker.BitmapDescriptor;
 import com.zhidaoauto.map.sdk.open.marker.BitmapDescriptorFactory;
 import com.zhidaoauto.map.sdk.open.marker.MarkerOptions;
+import com.zhidaoauto.map.sdk.open.marker.MarkerSimpleData;
 import com.zhidaoauto.map.sdk.open.poyline.PolylineOptions;
 import com.zhidaoauto.map.sdk.open.query.GeocodeAddress;
 import com.zhidaoauto.map.sdk.open.query.GeocodeQuery;
@@ -69,22 +71,6 @@ public class ObjectUtils {
            }
        }

-        // 吸附到路边
-//        if ( opt.isMatchOnRoadSide() ) {
-//            double coors[] = new double[]{opt.getLongitude(), opt.getLatitude()};
-//            if ( !opt.isGps() ) {
-//                coors = CoordinateUtils.transformGcj02toWgs84( opt.getLatitude(), opt.getLongitude() );
-//                opt.gps( true );
-//            }
-//            if ( coors != null ) {
-//                SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad( ( ( float ) coors[0] ), ( ( float ) coors[1] ), ( ( float ) opt.getRotate() ), true, true );
-//                double data[] = PointInterpolatorUtil.mergeToRoad( coors[0], coors[1], singlePointRoadInfo.getCoords() );
-//                if ( data != null ) {
-//                    opt.longitude( data[0] ).latitude( data[1] );
-//                }
-//            }
-//        }
-
        MarkerOptions markerOptions = new MarkerOptions()
                .setGps(opt.isGps())
                .position(new LonLatPoint(opt.getLongitude(), opt.getLatitude()))
@@ -98,13 +84,14 @@ public class ObjectUtils {
                .infoWindowEnable(opt.isInifoWindowEnable())
                .scale(opt.getScale())
                .alpha(opt.getAlpha())
-//                .draggable( opt.isDraggable() )
                .setInfoWindowOffset(opt.getOffsetX(), opt.getOffsetY())
                .zIndex(opt.getzIndex());
+
        try {
            Color.parseColor(opt.getAnchorColor());
            markerOptions.anchorColor(opt.getAnchorColor());
        } catch (Exception e) {
+            e.printStackTrace();
        }
        markerOptions.vrEnable(opt.is3DMode());
        if (!TextUtils.isEmpty(opt.getResName())) {
@@ -127,6 +114,24 @@ public class ObjectUtils {
        return markerOptions;
    }

+    public static MarkerSimpleData fromTrafficData(TrafficData trafficData) {
+        if (trafficData == null) {
+            return null;
+        }
+        MarkerSimpleData markerOptions = null;
+        try {
+            markerOptions = new MarkerSimpleData();
+            markerOptions.setId(Long.parseLong(trafficData.getUuid()));
+            markerOptions.setMarkerType(trafficData.getType().getType());
+            markerOptions.setRotateAngle((float) trafficData.getHeading());
+            markerOptions.setLat(trafficData.getLat());
+            markerOptions.setLon(trafficData.getLon());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return markerOptions;
+    }
+
    private static BitmapDescriptor getBitmapDescriptorFromMogo(MogoMarkerOptions options) {
        if (options == null) {
            return null;
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
@@ -1,5 +1,6 @@
 package com.mogo.map;

+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.overlay.IMogoPolyline;
@@ -39,6 +40,29 @@ public interface IMogoMap {
     */
    IMogoMarker addMarker( String tag, MogoMarkerOptions options );

+
+    /**
+     * 批量更新锚点位置
+     *
+     * @param optionsArrayList 锚点集合
+     */
+    void updateBatchMarkerPositon(ArrayList<TrafficData> optionsArrayList);
+
+    /**
+     * 添加感知使用到的3d模型
+     *
+     * @param type
+     * @param modelRes
+     */
+    void addPreVehicleModel(int type, int modelRes);
+
+    /**
+     * 要移除的感知数据uuid
+     *
+     * @param uuidString
+     */
+    void removeMarker(String uuidString);
+
    /**
     * 在地图上添一组图片标记（marker）对象，并设置是否改变地图状态以至于所有的marker对象都在当前地图可视区域范围内显示。
     *
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
@@ -3,6 +3,7 @@ package com.mogo.map.marker;
 import android.content.Context;

 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;

 import java.util.ArrayList;
 import java.util.List;
@@ -34,6 +35,26 @@ public interface IMogoMarkerManager {
     */
    List< IMogoMarker > addMarkers( String tag, ArrayList< MogoMarkerOptions > options, boolean moveToCenter );

+    /**
+     * 批量更新锚点位置
+     * @param optionsArrayList 锚点集合
+     */
+    void updateBatchMarkerPosition(ArrayList<TrafficData> optionsArrayList);
+
+    /**
+     * 添加感知使用到的3d模型
+     * @param type
+     * @param modelRes
+     */
+    void addPreVehicleModel(int type,int modelRes);
+
+    /**
+     * 要移除的感知数据uuid
+     *
+     * @param uuidString
+     */
+    void removeMarker(String uuidString);
+
    /**
     * 移除某一个类型、某个模块的 markers
     *
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
@@ -20,6 +20,9 @@ import java.util.Observable;
 */
 public class MogoMarkerOptions extends Observable {

+    // marker 唯一标记
+    private String uuid;
+    private int markerType;
    private double latitude;
    private double longitude;
    // 设置 Marker覆盖物 的标题
@@ -94,7 +97,23 @@ public class MogoMarkerOptions extends Observable {
     */
    private boolean mMatchOnRoadSide = true;

-    public MogoMarkerOptions matchOnRoadSide( boolean matchOnRoadSide ) {
+    public String getUuid() {
+        return uuid;
+    }
+
+    public void setUuid(String uuid) {
+        this.uuid = uuid;
+    }
+
+    public int getMarkerType() {
+        return markerType;
+    }
+
+    public void setMarkerType(int markerType) {
+        this.markerType = markerType;
+    }
+
+    public MogoMarkerOptions matchOnRoadSide(boolean matchOnRoadSide ) {
        this.mMatchOnRoadSide = matchOnRoadSide;
        return this;
    }
@@ -404,7 +423,9 @@ public class MogoMarkerOptions extends Observable {
    @Override
    public String toString() {
        return "MogoMarkerOptions{" +
-                "latitude=" + latitude +
+                "uuid='" + uuid + '\'' +
+                ", markerType=" + markerType +
+                ", latitude=" + latitude +
                ", longitude=" + longitude +
                ", title='" + title + '\'' +
                ", snippet='" + snippet + '\'' +
@@ -416,7 +437,7 @@ public class MogoMarkerOptions extends Observable {
                ", visible=" + visible +
                ", inifoWindowEnable=" + inifoWindowEnable +
                ", alpha=" + alpha +
-                " ,scale=" + scale+
+                ", scale=" + scale +
                ", isGps=" + isGps +
                ", u=" + u +
                ", v=" + v +
@@ -424,6 +445,16 @@ public class MogoMarkerOptions extends Observable {
                ", offsetX=" + offsetX +
                ", offsetY=" + offsetY +
                ", zIndex=" + zIndex +
+                ", mIconView=" + mIconView +
+                ", mOwner='" + mOwner + '\'' +
+                ", mObject=" + mObject +
+                ", mAutoManager=" + mAutoManager +
+                ", mIcon3DRes=" + mIcon3DRes +
+                ", mAnchorColor='" + mAnchorColor + '\'' +
+                ", mIs3DMode=" + mIs3DMode +
+                ", mIsControlAngle=" + mIsControlAngle +
+                ", mResName='" + mResName + '\'' +
+                ", mMatchOnRoadSide=" + mMatchOnRoadSide +
                '}';
    }
 }
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
@@ -3,6 +3,7 @@ package com.mogo.map;
 import android.content.Context;

 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.marker.MogoMarkerOptions;
@@ -51,6 +52,7 @@ public class MogoMarkerManager implements IMogoMarkerManager {
        try {
            return MogoMap.getInstance().getMogoMap().addMarker( tag, options );
        } catch ( Exception e ) {
+            e.printStackTrace();
            return null;
        }
    }
@@ -60,10 +62,38 @@ public class MogoMarkerManager implements IMogoMarkerManager {
        try {
            return MogoMap.getInstance().getMogoMap().addMarkers( tag, options, moveToCenter );
        } catch ( Exception e ) {
+            e.printStackTrace();
            return null;
        }
    }

+    @Override
+    public void updateBatchMarkerPosition(ArrayList<TrafficData> optionsArrayList) {
+        try {
+            MogoMap.getInstance().getMogoMap().updateBatchMarkerPositon(optionsArrayList);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void addPreVehicleModel(int type, int modelRes) {
+        try {
+            MogoMap.getInstance().getMogoMap().addPreVehicleModel(type, modelRes);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void removeMarker(String uuidString) {
+        try {
+            MogoMap.getInstance().getMogoMap().removeMarker(uuidString);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+

    @Override
    public void removeMarkers( String tag ) {
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
@@ -1,46 +1,42 @@
 package com.mogo.module.common.drawer;

-import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
-
+import android.content.Context;
 import android.text.TextUtils;

+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.traffic.TrafficData;
-import com.mogo.map.marker.IMogoMarker;
-import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.constants.AdasRecognizedType;
-import com.mogo.module.common.constants.DataTypes;
 import com.mogo.utils.logger.Logger;

 import java.util.ArrayList;
-import java.util.Iterator;
-import java.util.List;
-import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.TimeUnit;

 /**
 * @author xiaoyuzhou
 * @date 2021/10/19 10:45 上午
 * 域控制器识别信息绘制
 */
-public class IdentifyDataDrawer extends BaseDrawer {
-
+public class IdentifyDataDrawer {
    private static final String TAG = "IdentifyDataDrawer";
+
+    protected final Context mContext;
    private static volatile IdentifyDataDrawer sInstance;
+
    /**
     * 上一帧数据的缓存
     */
-    private static Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
+    private static ConcurrentHashMap<String, TrafficData> mMarkersCaches = new ConcurrentHashMap<>();
+
    /**
-     * 最后一帧数据的缓存
+     * 已经感知不到的脏数据
     */
-    private final Map<String, TrafficData> mLastPositions = new ConcurrentHashMap<>();
+    private final ConcurrentHashMap<String, TrafficData> mDirtyPositions = new ConcurrentHashMap<>();

    private IdentifyDataDrawer() {
-        super();
+        mContext = AbsMogoApplication.getApp();
+        addPreVehicleModel();
    }

    public static IdentifyDataDrawer getInstance() {
@@ -63,8 +59,7 @@ public class IdentifyDataDrawer extends BaseDrawer {
     *
     * @param resultList adas感知融合数据
     */
-    public void renderAdasRecognizedResult(List<TrafficData> resultList) {
-        final long start = System.nanoTime();
+    public void renderAdasRecognizedResult(ArrayList<TrafficData> resultList) {
        if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
            clearOldMarker();
            return;
@@ -76,95 +71,33 @@ public class IdentifyDataDrawer extends BaseDrawer {
            return;
        }

-        Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
-        List<TrafficData> newDiffSet = new ArrayList<>();
-        for (TrafficData recognizedListResult : resultList) {
+        // 循环将集合中的数据提取记录
+        ArrayList<String> trafficDataUuidList = new ArrayList<>();
+        for (TrafficData trafficData : resultList) {
+            trafficDataUuidList.add(trafficData.getUuid());
+        }

-            if (isUselessValue(recognizedListResult)) {
-                continue;
-            }
-            if (AdasRecognizedType.valueFrom(recognizedListResult.getType().getType()) == AdasRecognizedType.classIdUnKnow) {
-                continue;
-            }
-            // 复用之前存在的 marker
-            String uniqueKey = recognizedListResult.getUuid();
-            IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
-            if (marker != null && !marker.isDestroyed()) {
-                //Log.d(TAG, "发现缓存marker id : " + uniqueKey);
-                updateCacheMarkerRes(marker, recognizedListResult);
-                renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
-            } else {
-                // 新增添加进差集
-                newDiffSet.add(recognizedListResult);
+        // 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));
            }
        }
-        removeUselessMarker(mMarkersCaches);
-        removeUselessLastRecord();
-        int newDiffSetSize = newDiffSet.size();
-//        Log.d(TAG, "原数据量 ： " + resultList.size() + "  新增marker数量 ： " + newDiffSetSize);
-        // 复用过期 marker
-        if (newDiffSetSize > 0) {
-            for (int i = 0; i < newDiffSetSize; i++) {
-                TrafficData recognizedListResult = newDiffSet.get(i);
-                if (AdasRecognizedType.valueFrom(recognizedListResult.getType().getType()) == AdasRecognizedType.classIdUnKnow) {
-                    continue;
-                }
-                String uniqueKey = recognizedListResult.getUuid();
-                IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
-                if (marker == null) {
-                    continue;
-                }
-                //Log.d(TAG, "新增marker id : " + uniqueKey);
-                renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
-            }
-        }
-        mMarkersCaches.clear();
-        mMarkersCaches = newAdasRecognizedMarkersCaches;
-//        Log.d(TAG, "ADAS数据延时绘制 render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
-    }

-    /**
-     * todo 后面涉及到此类变化的数据均改动
-     * 更新缓存Marker的资源
-     *
-     * @param marker
-     * @param recognizedListResult
-     */
-    private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
-        // 获取3D资源文件
-        int resId = getModelRes(recognizedListResult.getType().getType());
-        String resIdVal = resId + "";
-        // 查询缓存中是否存在
-        String resName = mMarkerCachesResMd5Values.get(resIdVal);
-        // 缓存存在直接试用,节省内存
-        if (!TextUtils.isEmpty(resName)) {
-            if (!TextUtils.equals(resName, marker.getMarkerResName())) {
-                marker.use3DResource(resName);
-            }
-        } else {
-            // 缓存不存在,取出名称进行缓存
-            resName = marker.use3DResource(resId);
-            mMarkerCachesResMd5Values.put(resIdVal, resName);
-        }
-    }
+//        // 移除脏数据
+//        for (String uuid : mDirtyPositions.keySet()) {
+//            MogoApisHandler.getInstance().getApis()
+//                    .getMapServiceApi()
+//                    .getMarkerManager(mContext)
+//                    .removeMarker(uuid);
+//        }
+
+        // 绘制新数据
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .updateBatchMarkerPosition(resultList);

-    /**
-     * // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
-     * 移除工控机长时间没有下发的数据
-     */
-    private void removeUselessLastRecord() {
-        if (mLastPositions.isEmpty()) {
-            return;
-        }
-        Iterator<TrafficData> iterator = mLastPositions.values().iterator();
-//        Log.d(TAG, "EmArrow removeUselessLastRecord size : " + mLastPositions.size());
-        while (iterator.hasNext()) {
-            TrafficData result = iterator.next();
-            long internal = result.getSatelliteTime() - getCurSatelliteTime();
-            if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
-                iterator.remove();
-            }
-        }
    }

    /**
@@ -177,74 +110,10 @@ public class IdentifyDataDrawer extends BaseDrawer {
        if (recognizedListResult == null) {
            return true;
        }
-        if (nonRenderType(recognizedListResult.getType().getType())) {
-            return true;
-        }
        String uniqueKey = recognizedListResult.getUuid();
        return TextUtils.isEmpty(uniqueKey);
    }

-    /**
-     * 绘制某个物体的一个数据
-     *
-     * @param recognizedListResult           {@link TrafficData}
-     * @param newAdasRecognizedMarkersCaches 缓存集合
-     */
-    private void renderAdasOneFrame(IMogoMarker marker,
-                                    String uniqueKey,
-                                    TrafficData recognizedListResult,
-                                    Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
-        final long start = System.nanoTime();
-        TrafficData lastPosition = mLastPositions.remove(uniqueKey);
-        mLastPositions.put(uniqueKey, recognizedListResult);
-        long interval = 45;
-        if (lastPosition != null) {
-            interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
-        }
-        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
-        long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
-        //Log.d(TAG, "ADAS动画数据 cost : " + cost);
-        final long intervalRef = interval - cost;
-        //Log.d(TAG, "ADAS动画数据 最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.getUuid());
-
-        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
-        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
-        marker.setAnchorColor(carColor);
-
-        newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
-    }
-
-    /**
-     * 创建一个新 marker
-     *
-     * @param recognizedListResult {@link TrafficData}
-     * @return {@link IMogoMarker}
-     */
-    private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
-        if (recognizedListResult == null) {
-            return null;
-        }
-
-        int resId = getModelRes(recognizedListResult.getType().getType());
-        String resIdVal = resId + "";
-
-        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
-        MogoMarkerOptions options = new MogoMarkerOptions()
-                .owner(DataTypes.TYPE_MARKER_ADAS)
-                .anchor(0.5f, 0.5f)
-                .set3DMode(true)
-                .gps(true)
-                .anchorColor(carColor)
-                .controlAngle(true)
-                .resName(mMarkerCachesResMd5Values.get(resIdVal))
-                .icon3DRes(resId)
-                .rotate((float) recognizedListResult.getHeading())
-                .position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
-        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
-        cacheMarkerIconResMd5Val(resIdVal, marker);
-        return marker;
-    }
-
    /**
     * 清除旧的 marker 数据
     */
@@ -252,6 +121,45 @@ public class IdentifyDataDrawer extends BaseDrawer {
        if (mMarkersCaches != null) {
            mMarkersCaches.clear();
        }
-        mLastPositions.clear();
    }
+
+    private void addPreVehicleModel() {
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getTraffic3DIconId());
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getTraffic3DIconId());
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getTraffic3DIconId());
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.getTraffic3DIconId());
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getTraffic3DIconId());
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getTraffic3DIconId());
+        MogoApisHandler.getInstance().getApis()
+                .getMapServiceApi()
+                .getMarkerManager(mContext)
+                .addPreVehicleModel(TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getType(),
+                        TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getTraffic3DIconId());
+
+    }
+
 }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
@@ -900,7 +900,7 @@ public class MockIntentHandler implements IntentHandler {
            }
        }

-        List<TrafficData> trafficData = new ArrayList<>();
+        ArrayList<TrafficData> trafficData = new ArrayList<>();
        for (BufferedReader reader : readers) {
            String line = reader.readLine();
            TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
@@ -936,7 +936,7 @@ public class MockIntentHandler implements IntentHandler {
            }
        }

-        List<TrafficData> trafficData = new ArrayList<>();
+        ArrayList<TrafficData> trafficData = new ArrayList<>();
        for (BufferedReader reader : readers2) {
            String line = reader.readLine();
            TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);