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删除道路吸附逻辑

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Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-01-12 15:27:11 +08:00
parent 230b6859f8
commit 351bda6e8a
2 changed files with 2 additions and 245 deletions
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234
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -1,35 +1,27 @@
package com.mogo.module.common.drawer;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
import static java.lang.Math.PI;
import android.content.Context;
import android.graphics.Color;
import android.graphics.Typeface;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import android.view.ViewGroup;
import android.widget.TextView;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
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.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.common.drawer.bean.SpeedData;
import java.util.Collection;
import java.util.Iterator;
import java.util.Map;
import java.util.Random;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
/*
/**
* @author congtaowang
* @since 2020/10/30
* <p>
@@ -42,21 +34,6 @@ public class BaseDrawer {
*/
public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
/**
* 地图刷新频率
*/
public static final int MAP_RENDER_FRAME_FREQUENCY = 30;
/**
* 显示速度
*/
public static final int MSG_DISPLAY_SPEED = 11;
/**
* 移动点的时间间隔
*/
public static final int MAP_MARKER_MOVE_INTERVAL = MAP_RENDER_FRAME_FREQUENCY;
/**
* 地图内部资源md5缓存，便于资源复用
*/
@@ -64,77 +41,8 @@ public class BaseDrawer {
protected final Context mContext;
private static TextView mSpeedView;
public BaseDrawer() {
mContext = AbsMogoApplication.getApp();
initWorkThreadHandler();
initView();
}
private void initView() {
if (mSpeedView == null) {
mSpeedView = new TextView(mContext);
mSpeedView.setSingleLine(false);
mSpeedView.setTextColor(Color.WHITE);
mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
}
}
private static Handler mWorkThreadHandler;
protected static Handler mRenderThreadHandler = null;
/**
* 处理 marker 移除的线程
*/
private static void initWorkThreadHandler() {
if (mWorkThreadHandler == null) {
mWorkThreadHandler = new Handler(WorkThreadHandler.newInstance("3d-marker-work-thread").getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_REMOVE_DIRTY_MARKERS) {
if (msg.obj instanceof Map) {
removeDirtyMarkers(((Map) msg.obj));
Set<String> key = ((Map) msg.obj).keySet();
for (String id : key) {
// 清除道路缓存
clearRoadCacheById(id);
}
} else if (msg.obj instanceof String) {
MogoApisHandler.getInstance().getApis()
.getMapServiceApi()
.getMarkerManager(AbsMogoApplication.getApp())
.removeMarkers(((String) msg.obj));
}
}
}
};
}
if (mRenderThreadHandler == null) {
mRenderThreadHandler = new Handler(WorkThreadHandler.newInstance("render-thread-" + new Random().nextLong()).getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_DISPLAY_SPEED) {
if (msg.obj instanceof SpeedData) {
showSpeed((SpeedData) msg.obj);
}
}
}
};
}
}
public static void showSpeed(SpeedData speedData) {
showIdentitySpeed(speedData.getMarker()
, speedData.getSpeed()
, speedData.getUuid()
, speedData.getType()
, speedData.getHeading()
, speedData.getIsVrMode());
}
/**
@@ -162,10 +70,7 @@ public class BaseDrawer {
* @param data 数据体
*/
public void sendMessage(int msg, Object data) {
Message message = Message.obtain();
message.what = msg;
message.obj = data;
mWorkThreadHandler.sendMessage(message);
}
/**
@@ -185,20 +90,6 @@ public class BaseDrawer {
&& recognizedType != AdasRecognizedType.classIdUnKnow;
}
/**
* 是否展示车速，UUID以及类型
*
* @param type {@link AdasRecognizedType}
* @return showSpeed
*/
public boolean shouldShowSpeed(int type) {
return true; //todo 验证行人预警,对行人和自行车不做infoWindow过滤
// AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
// return recognizedType != AdasRecognizedType.classIdPerson;
// &&recognizedType != AdasRecognizedType.classIdBicycle //todo Bicycle显示
// && recognizedType != AdasRecognizedType.classIdMoto //todo moto显示
}
/**
* 获取3D锚点模型资源
*
@@ -258,19 +149,6 @@ public class BaseDrawer {
return Car3DModelColor.Normal.color;
}
/**
* 返回当前自车速度
*
* @return isCurSpeed
*/
protected double getCurSpeed() {
double speed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
if (speed <= 0) {
speed = SnapshotLocationDataCenter.getInstance().getCurSpeed();
}
return speed;
}
/**
* 返回当前自车经纬度
*
@@ -305,45 +183,15 @@ public class BaseDrawer {
* 模型颜色
*/
public enum Car3DModelColor {
Normal("#D8D8D8FF"),
Warming("#FFD53EFF"),
Dangerous("#FF3C45FF"),
Error("#7fb80e");
private final String color;
Car3DModelColor(String color) {
this.color = color;
}
}
/**
* 展示车辆速度
*
* @param mogoMarker {@link IMogoMarker}
* @param speed 是否显示速度
* @param isVrMode 是否是vrMode
*/
public static void showIdentitySpeed(IMogoMarker mogoMarker, double speed, String uuid,
int type, double heading, boolean isVrMode) {
Log.d("EmArrow", "showSelf uuid : " + uuid + " speed : " + speed);
if (mogoMarker == null || mogoMarker.isDestroyed()) {
return;
}
if (!isVrMode) {
mogoMarker.hideInfoWindow();
return;
}
int speedIntVal = (int) (speed * 3.6);
mogoMarker.setInfoWindowOffset(0, 20);
String text = "uuid : " + uuid + "\n"
+ "speed : " + speedIntVal + "\n"
+ "type : " + type + "\n"
+ "heading : " + heading;
mSpeedView.setText(text);
mogoMarker.updateInfoWindowView(mSpeedView);
}
/**
@@ -386,35 +234,6 @@ public class BaseDrawer {
mMarkerCachesResMd5Values.put(id, md5);
}
/**
* 道路匹配到车道中心点
*
* @param lon 经度
* @param lat 纬度
* @param angle 方向角
* @param isRtk 是否是RTK
* @return 匹配经纬度值
*/
public double[] matchRoad(String id, double lon, double lat, double angle, boolean isRtk) {
final long start = System.currentTimeMillis();
double[] matchRoad = MogoApisHandler.getInstance()
.getApis()
.getMapServiceApi()
.getMapUIController()
.matchRoad(id, lon, lat, angle, true, isRtk);
Log.i("timer-matchRoad", "cost " + (System.currentTimeMillis() - start) + "ms");
return matchRoad;
}
/**
* 清理缓存路段数据
*
* @param id 缓存数据Key
*/
public static void clearRoadCacheById(String id) {
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById(id);
}
/**
* 使用系统时间或卫星时间计算出动画的运动时间，最小值45，防止两个点距离过近设置的最小动画执行时间
*
@@ -435,53 +254,4 @@ public class BaseDrawer {
return interval;
}
/**
* 根据位置信息、车头朝向计算道路吸附
*
* @param id UUID
* @param lon 经度
* @param lat 纬度
* @param heading 方向角
* @param lastLon 上一个点经度
* @param lastLat 上一个点纬度
* @return 匹配经纬度
*/
protected double[] getMatchLonLat(String id, double lon, double lat, double heading, double lastLon, double lastLat) {
double[] matchedPoint = matchRoad(id, lon,
lat,
heading,
true
);
boolean match;
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};
}
}

13
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
View File

@@ -118,7 +118,6 @@ public class IdentifyDataDrawer extends BaseDrawer {
renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
}
}
sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
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");
@@ -213,17 +212,6 @@ public class IdentifyDataDrawer extends BaseDrawer {
marker.setAnchorColor(carColor);
newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
// 显示目标车的信息,但是数据多的时候会导致崩溃,不建议打开
// if (shouldShowSpeed(recognizedListResult.getType().getType())) {
// SpeedData speedData = new SpeedData(marker
// , recognizedListResult.getSpeed()
// , recognizedListResult.getUuid()
// , recognizedListResult.getType().getType()
// , recognizedListResult.getHeading()
// , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
// showSpeed(speedData);
// }
}
/**
@@ -265,6 +253,5 @@ public class IdentifyDataDrawer extends BaseDrawer {
mMarkersCaches.clear();
}
mLastPositions.clear();
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
}
}