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1. mock添加10辆车

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2. 道路吸附同步到snapshot
This commit is contained in:
tongchenfei
2021-03-17 20:29:57 +08:00
parent f1b9f7481e
commit 29c0277921
9 changed files with 213 additions and 94 deletions
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73
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
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@@ -197,76 +197,19 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
final double lon = recognizedListResult.lon;
final double lat = recognizedListResult.lat;
final long start = System.currentTimeMillis();
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.uuid, recognizedListResult.lon,
recognizedListResult.lat,
recognizedListResult.heading,
true
);
ADASRecognizedResult lastPosition = mLastPositions.remove( uniqueKey );
boolean match = false;
if ( matchedPoint != null ) {
Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
match = matchedPoint[2] < 1 && matchedPoint[2] > 0;
if ( lastPosition != null ) {
double clearAngle;
if (recognizedListResult.heading > 0 && recognizedListResult.heading <= 90) {
clearAngle = recognizedListResult.heading;
} else if (recognizedListResult.heading > 90 && recognizedListResult.heading <= 180) {
clearAngle = 180 - recognizedListResult.heading ;
} else if (recognizedListResult.heading > 180 && recognizedListResult.heading <= 270) {
clearAngle = recognizedListResult.heading - 180;
}else{
clearAngle = 360 - recognizedListResult.heading;
}
double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastPosition.lon), Math.abs(matchedPoint[1] - lastPosition.lat)) * (180 / PI);
_angle = Math.abs(clearAngle - _angle);
Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle);
if ( _angle > 22.5 ) {
match = false;
}
}
// mIsMatchStatusCache.put( uniqueKey, match );
if ( match ) {
recognizedListResult.lon = matchedPoint[0];
recognizedListResult.lat = matchedPoint[1];
}
double lastLon = -1;
double lastLat = -1;
if (lastPosition != null) {
lastLon = lastPosition.lon;
lastLat = lastPosition.lat;
}
double[] matchLonLat = getMatchLonLat(recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat);
recognizedListResult.lon = matchLonLat[0];
recognizedListResult.lat = matchLonLat[1];
// Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
// if ( matchedPoint != null ) {
// if ( ( isMatch == null || !isMatch ) ) {
// if ( matchedPoint[2] < 0.5 && matchedPoint[2] > 0 ) {
// isMatch = true;
// }
// } else {
// if ( matchedPoint[2] > 1 ) {
// isMatch = false;
// }
// }
// if ( isMatch == null ) {
// isMatch = false;
// }
// if (lastPosition != null) {
// double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastPosition.lon), Math.abs(matchedPoint[1] - lastPosition.lat)) * (180 / PI);
// Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle);
// if (_angle > 22.5) {
// isMatch = false;
// }
// }
// mIsMatchStatusCache.put( uniqueKey, isMatch );
//
// if ( isMatch ) {
// recognizedListResult.lon = matchedPoint[0];
// recognizedListResult.lat = matchedPoint[1];
// }
// }
mLastPositions.put( uniqueKey, recognizedListResult );
Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );

41
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
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@@ -16,8 +16,10 @@ import com.mogo.map.marker.IMogoMarker;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import java.util.ArrayList;
import java.util.Collection;
@@ -384,4 +386,43 @@ class BaseDrawer {
}
}
}
protected double[] getMatchLonLat(String id,double lon,double lat,double heading,double lastLon,double lastLat){
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( id, lon,
lat,
heading,
true
);
boolean match = false;
if ( matchedPoint != null ) {
// Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
match = matchedPoint[2] < 1 && matchedPoint[2] > 0;
if ( lastLon != -1 ) {
double clearAngle;
if (heading > 0 && heading <= 90) {
clearAngle = heading;
} else if (heading > 90 && heading <= 180) {
clearAngle = 180 - heading ;
} else if (heading > 180 && heading <= 270) {
clearAngle = heading - 180;
}else{
clearAngle = 360 - heading;
}
double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastLon), Math.abs(matchedPoint[1] - lastLat)) * (180 / PI);
_angle = Math.abs(clearAngle - _angle);
// Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle);
if ( _angle > 22.5 ) {
match = false;
}
}
if ( match ) {
lon = matchedPoint[0];
lat = matchedPoint[1];
}
}
return new double[]{lon,lat};
}
}

37
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
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@@ -195,39 +195,22 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
return;
}
final long start = System.currentTimeMillis();
// double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.getUniqueKey(), recognizedListResult.getWgslon(),
// recognizedListResult.getWgslat(),
// recognizedListResult.getHeading(),
// true
// );
// Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
// if ( matchedPoint != null ) {
// if ( ( isMatch == null || !isMatch ) ) {
// if ( matchedPoint[2] < 0.5 ) {
// isMatch = true;
// }
// } else {
// if ( matchedPoint[2] > 1 ) {
// isMatch = false;
// }
// }
// if ( isMatch == null ) {
// isMatch = false;
// }
// mIsMatchStatusCache.put( uniqueKey, isMatch );
//
// if ( isMatch ) {
// recognizedListResult.setWgslon(matchedPoint[0]);
// recognizedListResult.setWgslat(matchedPoint[1]);
// }
// }
// Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
CloudRoadData lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
double lastLon = -1;
double lastLat = -1;
if (lastPosition != null) {
lastLon = lastPosition.getWgslon();
lastLat = lastPosition.getWgslat();
}
double[] matchLonLat = getMatchLonLat(recognizedListResult.getUniqueKey(), recognizedListResult.getWgslon(), recognizedListResult.getWgslat(), recognizedListResult.getHeading(), lastLon, lastLat);
recognizedListResult.setWgslon(matchLonLat[0]);
recognizedListResult.setWgslat(matchLonLat[1]);
if ( marker == null || marker.isDestroyed() ) {
marker = drawSnapshotDataMarker( recognizedListResult );
if ( marker == null ) {

1
modules/mogo-module-service/src/main/assets/adas3-2.txt Normal file
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1
modules/mogo-module-service/src/main/assets/adas4-2.txt Normal file
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1
modules/mogo-module-service/src/main/assets/adas4-4.txt Normal file
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1
modules/mogo-module-service/src/main/assets/adas5-2.txt Normal file
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1
modules/mogo-module-service/src/main/assets/adas5-4.txt Normal file
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151
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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@@ -727,6 +727,11 @@ public class MockIntentHandler implements IntentHandler {
br32.close();
br33.close();
br34.close();
br35.close();
br36.close();
br37.close();
br38.close();
br39.close();
} catch ( IOException ex ) {
ex.printStackTrace();
}
@@ -735,6 +740,11 @@ public class MockIntentHandler implements IntentHandler {
br32 = null;
br33 = null;
br34 = null;
br35 = null;
br36 = null;
br37 = null;
br38 = null;
br39 = null;
}
} else if ( msg.what == 31 ) {
try {
@@ -861,7 +871,7 @@ public class MockIntentHandler implements IntentHandler {
private boolean handleMockSnapshotIntent() throws Exception {
if ( br2 == null ) {
br2 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "snapshot.txt" ) ) );
br2 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas6.txt" ) ) );
}
String line = br2.readLine();
if ( line == null ) {
@@ -886,7 +896,7 @@ public class MockIntentHandler implements IntentHandler {
delay = cloudRoadData.getSystemTime() - last;
}
last = cloudRoadData.getSystemTime();
mLocationMockHandler.sendEmptyMessageDelayed( 2, 100L );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 50L );
return true;
}
@@ -937,6 +947,22 @@ public class MockIntentHandler implements IntentHandler {
if ( br34 == null ) {
br34 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas6.txt" ) ) );
}
if ( br35 == null ) {
br35 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas3-2.txt" ) ) );
}
if ( br36 == null ) {
br36 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas4-2.txt" ) ) );
}
if ( br37 == null ) {
br37 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas4-4.txt" ) ) );
}
if ( br38 == null ) {
br38 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas5-2.txt" ) ) );
}
if ( br39 == null ) {
br39 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas5-4.txt" ) ) );
}
String line = br3.readLine();
if ( line == null ) {
throw new Exception( "end of file 3." );
@@ -964,6 +990,27 @@ public class MockIntentHandler implements IntentHandler {
allList.add( next );
}
next = handleMockAdasIntent7();
if ( next != null ) {
allList.add( next );
}
next = handleMockAdasIntent8();
if ( next != null ) {
allList.add( next );
}
next = handleMockAdasIntent9();
if ( next != null ) {
allList.add( next );
}
next = handleMockAdasIntent10();
if ( next != null ) {
allList.add( next );
}
next = handleMockAdasIntent11();
if ( next != null ) {
allList.add( next );
}
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( allList );
Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
long delay = 100;
@@ -1054,4 +1101,104 @@ public class MockIntentHandler implements IntentHandler {
return adasRecognizedResult;
}
private BufferedReader br35;
private ADASRecognizedResult handleMockAdasIntent7() {
String line = null;
try {
line = br35.readLine();
} catch ( IOException e ) {
e.printStackTrace();
}
if ( line == null ) {
return null;
}
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return null;
}
adasRecognizedResult.uuid = "2_6";
return adasRecognizedResult;
}
private BufferedReader br36;
private ADASRecognizedResult handleMockAdasIntent8() {
String line = null;
try {
line = br36.readLine();
} catch ( IOException e ) {
e.printStackTrace();
}
if ( line == null ) {
return null;
}
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return null;
}
adasRecognizedResult.uuid = "2_7";
return adasRecognizedResult;
}
private BufferedReader br37;
private ADASRecognizedResult handleMockAdasIntent9() {
String line = null;
try {
line = br37.readLine();
} catch ( IOException e ) {
e.printStackTrace();
}
if ( line == null ) {
return null;
}
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return null;
}
adasRecognizedResult.uuid = "2_8";
return adasRecognizedResult;
}
private BufferedReader br38;
private ADASRecognizedResult handleMockAdasIntent10() {
String line = null;
try {
line = br38.readLine();
} catch ( IOException e ) {
e.printStackTrace();
}
if ( line == null ) {
return null;
}
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return null;
}
adasRecognizedResult.uuid = "2_9";
return adasRecognizedResult;
}
private BufferedReader br39;
private ADASRecognizedResult handleMockAdasIntent11() {
String line = null;
try {
line = br39.readLine();
} catch ( IOException e ) {
e.printStackTrace();
}
if ( line == null ) {
return null;
}
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return null;
}
adasRecognizedResult.uuid = "2_10";
return adasRecognizedResult;
}
}