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迁移 IdentifyDataDrawer.java到MoGoEagleEye.core.function-impl.mogo-core-function-map。

地图相关的功能进行聚合，为后续融合做准备。如果需要对数据进行拦截处理，也在这里添加拦截器，不要直接修改IdentifyDataDrawer

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-04-06 20:28:31 +08:00
parent 9620e428ef
commit 3a656f82b9
5 changed files with 2 additions and 670 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java → core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
View File

@@ -1,4 +1,4 @@
package com.mogo.module.common.drawer;
package com.mogo.eagle.core.function.map;
import android.content.Context;

1
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
View File

@@ -5,7 +5,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.module.common.drawer.IdentifyDataDrawer
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject

3
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/MarkerDrawer.java
View File

@@ -25,14 +25,13 @@ import java.util.HashMap;
import java.util.List;
import java.util.Map;
public
/**
* @author congtaowang
* @since 2020/10/28
* <p>
* 描述
*/
class MarkerDrawer {
public class MarkerDrawer {
public static final int MARKER_Z_INDEX_HIGH = 100;
public static final int MARKER_Z_INDEX_LOW = 2;

515
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -1,515 +0,0 @@
package com.mogo.module.common.drawer;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_DATA;
import android.os.Build;
import android.text.TextUtils;
import android.view.LayoutInflater;
import android.view.View;
import android.widget.ImageView;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.cloud.socket.entity.SocketDownDataHelper;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ViewUtils;
import com.mogo.map.MogoMarkerManager;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.IMogoMarkerClickListener;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
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 congtaowang
* @since 2020/10/28
* <p>
* 云端数据绘制
*/
public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListener, IMogoStatusChangedListener {
private static final String TAG = "SnapshotSetDataDrawer";
private static volatile SnapshotSetDataDrawer sInstance;
private boolean mChangeCarModeStatus;
private SnapshotSetDataDrawer() {
super();
MogoApisHandler.getInstance().getApis()
.getStatusManagerApi()
.registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, this);
}
public static SnapshotSetDataDrawer getInstance() {
if (sInstance == null) {
synchronized (SnapshotSetDataDrawer.class) {
if (sInstance == null) {
sInstance = new SnapshotSetDataDrawer();
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
/**
* 上一帧数据的缓存
*/
private static final Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
private final Map<String, SocketDownData.CloudRoadDataProto> mLastPositions = new ConcurrentHashMap<>();
/**
* 注册StatusDescriptor.VR_MODE类型，VR_MODE状态改变回调
*
* @param descriptor 状态类型
* @param isTrue true - accOn、adas ui show、voice ui show、push ui show、v2x ui show
*/
@Override
public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
mChangeCarModeStatus = true;
sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
removeUselessMarker(mMarkersCaches);
mLastPositions.clear();
}
public boolean isChangeCarModeStatus() {
return mChangeCarModeStatus;
}
public void setChangeCarModeStatus(boolean mChangeCarModeStatus) {
this.mChangeCarModeStatus = mChangeCarModeStatus;
}
/**
* 清除旧数据操作
*
* @param data 自车周边数据
* @return 清除结果
*/
private boolean clear(SocketDownData.LauncherSnapshotProto data) {
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched()) {
if (mMarkersCaches == null) {
return false;
}
mMarkersCaches.clear();
mLastPositions.clear();
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA);
return true;
}
if (data == null || (
(data.getAllListList() == null || data.getAllListList().isEmpty()) &&
(data.getNearListList() == null || data.getNearListList().isEmpty()))) {
if (mMarkersCaches != null) {
mMarkersCaches.clear();
}
mLastPositions.clear();
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA);
return true;
}
return false;
}
/**
* 绘制来自云端的 mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
*
* @param data 自车周边数据
*/
// @ChainLog(linkCode = CHAIN_LINK_CLOUD_SHOW,
// endpoint = TracingConstants.Endpoint.PAD,
// nodeAliasCode = "PAD_YINGYAN_SHOW",
// paramIndexes = {0},
// clientPkFileName = "sn")
public void renderSnapshotData(SocketDownData.LauncherSnapshotProto data) {
final long start = System.nanoTime();
if (clear(data)) {
return;
}
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
return;
}
List<SocketDownData.CloudRoadDataProto> allDatumsList = new ArrayList<>();
prepareData(data.getAllListList(), allDatumsList);
Map<String, IMogoMarker> newMarkersCaches = new ConcurrentHashMap<>(allDatumsList.size());
List<SocketDownData.CloudRoadDataProto> newDiffSet = new ArrayList<>();
for (SocketDownData.CloudRoadDataProto cloudRoadData : allDatumsList) {
if (isUselessValue(cloudRoadData)) {
continue;
}
String uniqueKey = cloudRoadData.getUuid();
IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
if (marker != null && !marker.isDestroyed()) {
updateCacheMarkerRes(marker, cloudRoadData);
renderSnapshotOneFrame(marker, uniqueKey, cloudRoadData, newMarkersCaches);
} else {
newDiffSet.add(cloudRoadData);
}
}
// 需要新增的 marker 数量
int newDiffSetSize = newDiffSet.size();
// 复用过期 marker
if (newDiffSetSize > 0) {
// 复用过后还需新增的 marker
for (int i = 0; i < newDiffSetSize; i++) {
SocketDownData.CloudRoadDataProto cloudRoadData = newDiffSet.get(i);
String uniqueKey = cloudRoadData.getUuid();
IMogoMarker marker = drawSnapshotDataMarker(cloudRoadData);
if (marker == null) {
continue;
}
renderSnapshotOneFrame(marker, uniqueKey, cloudRoadData, newMarkersCaches);
}
}
mMarkersCaches.putAll(newMarkersCaches);
// 移除超时 marker
delayRemoveUselessMarker();
removeUselessLastRecord();
CallerLogger.INSTANCE.d("云端数据延时绘制", "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
*
* @param marker {@link IMogoMarker}
* @param cloudRoadDataProto {@link SocketDownData.CloudRoadDataProto}
*/
private void updateCacheMarkerRes(IMogoMarker marker, SocketDownData.CloudRoadDataProto cloudRoadDataProto) {
String resIdVal;
int resId = getModelRes(cloudRoadDataProto.getType());
resIdVal = resId + "";
String resName = mMarkerCachesResMd5Values.get(resIdVal);
if (!TextUtils.isEmpty(resName)) {
if (!TextUtils.equals(resName, marker.getMarkerResName())) {
marker.use3DResource(resName);
}
} else {
resName = marker.use3DResource(resId);
mMarkerCachesResMd5Values.put(resIdVal, resName);
}
}
private void delayRemoveUselessMarker() {
if (mMarkersCaches.isEmpty()) {
return;
}
Iterator<IMogoMarker> iterator = mMarkersCaches.values().iterator();
while (iterator.hasNext()) {
IMogoMarker result = iterator.next();
SocketDownData.CloudRoadDataProto proto = ((SocketDownData.CloudRoadDataProto) result.getObject());
if (proto == null) { // 后续有业务数据在操作，更新数据，不做处理
continue;
}
long internal = getCurSatelliteTime() - proto.getSatelliteTime();
CallerLogger.INSTANCE.d("MogoArrow", "delayRemoveUselessMarker uuid : " + proto.getUuid()
+ " localTime : " + getCurSatelliteTime()
+ " originTime : " + proto.getSatelliteTime()
+ " internal : " + internal);
if (internal > 5000) {
iterator.remove();
result.destroy();
}
}
}
private void removeUselessLastRecord() { // 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
if (mLastPositions.isEmpty()) {
return;
}
Iterator<SocketDownData.CloudRoadDataProto> iterator = mLastPositions.values().iterator();
while (iterator.hasNext()) {
SocketDownData.CloudRoadDataProto result = iterator.next();
long internal = getCurSatelliteTime() - result.getSatelliteTime();
if (internal > 3000) {
iterator.remove();
}
}
}
/**
* 判断类型、uuid 等
*
* @param cloudRoadData {@link SocketDownData.CloudRoadDataProto}
* @return isUselessValue
*/
private boolean isUselessValue(SocketDownData.CloudRoadDataProto cloudRoadData) {
if (cloudRoadData == null) {
return true;
}
if (nonRenderType(cloudRoadData.getType())) {
return true;
}
String uniqueKey = cloudRoadData.getUuid();
return TextUtils.isEmpty(uniqueKey);
}
/**
* 绘制某个物体的一个数据
*
* @param cloudRoadData {@link SocketDownData.CloudRoadDataProto}
* @param newSnapshotCaches 缓存数据
*/
private void renderSnapshotOneFrame(IMogoMarker marker, String uniqueKey, SocketDownData.CloudRoadDataProto cloudRoadData, Map<String, IMogoMarker> newSnapshotCaches) {
final long start = System.nanoTime();
SocketDownData.CloudRoadDataProto lastPosition = mLastPositions.remove(uniqueKey);
// 道路吸附
// double lastLon = -1;
// double lastLat = -1;
// if (lastPosition != null) {
// lastLon = lastPosition.getWgslon();
// lastLat = lastPosition.getWgslat();
// }
// double[] matchLonLat = getMatchLonLat(cloudRoadData.getUuid(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading(), lastLon, lastLat);
// SocketDownData.CloudRoadDataProto.Builder builder = cloudRoadData.toBuilder();
// builder.setWgslon(matchLonLat[0]);
// builder.setWgslat(matchLonLat[1]);
// cloudRoadData = builder.build();
mLastPositions.put(uniqueKey, cloudRoadData);
long interval = 45;
if (lastPosition != null) {
interval = computeAnimDuration(lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime());
}
final MogoLatLng point = new MogoLatLng(cloudRoadData.getWgslat(), cloudRoadData.getWgslon());
long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
final long intervalRef = interval - cost;
marker.addDynamicAnchorPosition(point, (float) cloudRoadData.getHeading(), intervalRef);
marker.setAnchorColor(getModelRenderColor(cloudRoadData.getType(), cloudRoadData.getFromType(), 1));
newSnapshotCaches.put(uniqueKey, marker);
// if (shouldShowSpeed(cloudRoadData.getType())) {
// Message msg = mRenderThreadHandler.obtainMessage();
// msg.obj = new SpeedData(marker
// , cloudRoadData.getSpeed()
// , cloudRoadData.getUuid()
// , cloudRoadData.getType()
// , cloudRoadData.getHeading()
// , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
// msg.what = MSG_DISPLAY_SPEED;
// msg.sendToTarget();
// }
CallerLogger.INSTANCE.d("云端数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
}
/**
* 过滤数据,对数据补点
*
* @param in 输入集合
* @param out 输出集合
*/
private void prepareData(List<SocketDownData.CloudRoadDataProto> in, List<SocketDownData.CloudRoadDataProto> out) {
// foreCastPoint(in, out);
out.addAll(in);
}
private final static String FORECAST = "snapshotForecast";
/**
* 基于云平台下发的数据点速度预测当前位置和距离自车距离
*
* @param in 数据源
*/
private void foreCastPoint(List<SocketDownData.CloudRoadDataProto> in, List<SocketDownData.CloudRoadDataProto> out) {
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
for (SocketDownData.CloudRoadDataProto proto : in) {
SocketDownData.CloudRoadDataProto.Builder builder = proto.toBuilder();
CallerLogger.INSTANCE.d(FORECAST, "ready to foreCast current uuid : " + proto.getUuid());
long internal = getCurSatelliteTime() - builder.getSatelliteTime();
if (internal <= 0) {
CallerLogger.INSTANCE.d(FORECAST, "time internal less than 0 , uuid : " + proto.getUuid());
out.add(proto);
continue;
}
long startTime = System.currentTimeMillis();
// 预测点
CallerLogger.INSTANCE.d(FORECAST, "time internal : " + internal + " speed : " + proto.getSpeed());
double foreCastDistance = proto.getSpeed() * internal / 1000;
CallerLogger.INSTANCE.d(FORECAST, "foreCastDistance : " + foreCastDistance);
MogoLatLng mogoLatLng = new MogoLatLng(proto.getWgslat(), proto.getWgslon());
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, proto.getHeading());
// 计算与自车距离
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
, foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
long foreCastInternal = System.currentTimeMillis() - startTime;
CallerLogger.INSTANCE.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
builder.setWgslat(foreCastMogoLatLon.getLat());
builder.setWgslon(foreCastMogoLatLon.getLon());
builder.setSatelliteTime(getCurSatelliteTime() - foreCastInternal);
builder.setDistance(distanceFromSelf);
proto = builder.build();
out.add(proto);
}
}
}
/**
* 绑定点击事件
*/
public void bindClickListener(IMogoMarker marker) {
if (marker == null || marker.isDestroyed()) {
return;
}
marker.setOnMarkerClickListener(this);
}
/**
* 绘制 marker
*
* @param data 道路数据
* @return {@link IMogoMarker}
*/
public IMogoMarker drawSnapshotDataMarker(SocketDownData.CloudRoadDataProto data) {
long start = System.nanoTime();
if (data == null) {
return null;
}
MogoMarkerOptions options = new MogoMarkerOptions()
.owner(TYPE_MARKER_CLOUD_DATA)
.anchor(0.5f, 0.5f)
.rotate((float) data.getHeading())
.data(data)
.gps(true)
.controlAngle(true)
.position(new MogoLatLng(data.getWgslat(), data.getWgslon()));
String resIdVal;
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
options.set3DMode(true);
options.anchorColor(getModelRenderColor(data.getType(), data.getFromType(), 1));
int resId = getModelRes(data.getType());
resIdVal = resId + "";
options.resName(mMarkerCachesResMd5Values.get(resIdVal));
options.icon3DRes(resId);
} else {
options.set3DMode(false);
View view = inflateView(data);
options.icon(view);
resIdVal = view.getId() + "";
}
IMogoMarker marker = MogoMarkerManager.getInstance(mContext).addMarker(TYPE_MARKER_CLOUD_DATA, options);
cacheMarkerIconResMd5Val(resIdVal, marker);
if (!TextUtils.isEmpty(data.getSn())) {
bindClickListener(marker);
}
CallerLogger.INSTANCE.d("云端数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
return marker;
}
public String get3DCacheId(String resIdVal) {
return mMarkerCachesResMd5Values.get(resIdVal);
}
/**
* 生成 2d marker 资源
*
* @param data 道路数据
* @return marker
*/
public View inflateView(SocketDownData.CloudRoadDataProto data) {
View rootView = LayoutInflater.from(AbsMogoApplication.getApp()).inflate(R.layout.module_commons_layout_car, null);
ImageView iv = rootView.findViewById(R.id.module_commons_marker_car_model);
int viewIdLike = get2DModel(data);
iv.setImageResource(viewIdLike);
rootView.setId(viewIdLike);
return rootView;
}
/**
* 获取车辆2d贴图
*
* @param data 道路数据
* @return 2D贴图id
*/
private int get2DModel(SocketDownData.CloudRoadDataProto data) {
switch (data.getFromType()) {
case SocketDownDataHelper.FROM_ADAS:
case SocketDownDataHelper.FROM_ROAD_UNIT:
case SocketDownDataHelper.FROM_MY_LOCATION:
default:
return R.drawable.icon_map_marker_car_gray;
}
}
@Override
public boolean onMarkerClicked(IMogoMarker marker) {
if (marker != null && !marker.isDestroyed()) {
if (marker.getObject() instanceof SocketDownData.CloudRoadDataProto) {
showCarCallPanel(((SocketDownData.CloudRoadDataProto) marker.getObject()));
}
}
return true;
}
/**
* 展示用户信息面版
*
* @param data 道路数据
*/
private void showCarCallPanel(SocketDownData.CloudRoadDataProto data) {
/* MogoDriverInfo driverInfo = new MogoDriverInfo();
driverInfo.setLat(data.getLat());
driverInfo.setLon(data.getLon());
driverInfo.setSn(data.getSn());
ICarsChattingProvider carChatting = CallChatApi.getInstance().getApiProvider();
if (carChatting != null) {
try {
carChatting.showUserWindow(TAG, driverInfo, mContext);
} catch (Exception e) {
CallerLogger.INSTANCE.e(TAG, e, "showCarCallPanel");
}
}*/
}
public void changeIconResourceIfNecessary(SocketDownData.CloudRoadDataProto cloudRoadData, IMogoMarker marker) {
if (isChangeCarModeStatus()) {
setChangeCarModeStatus(false);
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
marker.getMogoMarkerOptions().set3DMode(true);
int resId = getModelRes(cloudRoadData.getType());
String resName = get3DCacheId(resId + "");
if (TextUtils.isEmpty(resName)) {
marker.use3DResource(resId);
cacheMarkerIconResMd5Val(resId + "", marker);
} else {
marker.use3DResource(resName);
}
} else {
marker.getMogoMarkerOptions().set3DMode(false);
View view = inflateView(cloudRoadData);
int resId = view.getId();
String resName = get3DCacheId(resId + "");
if (TextUtils.isEmpty(resName)) {
marker.setIcon(ViewUtils.fromView(view));
cacheMarkerIconResMd5Val(resId + "", marker);
} else {
marker.use2DResource(resName);
}
}
}
}
}

151
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -9,16 +9,12 @@ import android.os.Message;
import android.text.TextUtils;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.cloud.socket.entity.SocketDownDataHelper;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.commons.voice.AIAssist;
import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.constants.MogoServicePaths;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.function.api.map.IMogoMapFrameController;
import com.mogo.eagle.core.function.call.base.CallerBase;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
@@ -38,8 +34,6 @@ import com.mogo.map.search.geo.MogoRegeocodeResult;
import com.mogo.map.search.geo.query.MogoRegeocodeQuery;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.dialog.WMDialog;
import com.mogo.module.common.drawer.IdentifyDataDrawer;
import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
@@ -483,30 +477,6 @@ public class MockIntentHandler implements IntentHandler {
mLocationMockHandler.sendEmptyMessageDelayed(100, 50L);
}
/**
* 处理路侧模拟数据意图
*/
private void handleRoadSideMockDataIntent() throws Exception {
if (roadSizeBr == null) {
roadSizeBr = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("roadSide.txt"))); //todo 需要重新模拟一个test数据
}
String carsLine = roadSizeBr.readLine();
SocketDownData.LauncherSnapshotProto.Builder data = SocketDownData.LauncherSnapshotProto.newBuilder();
List<SocketDownData.CloudRoadDataProto> allList = GsonUtil.arrayFromJson(carsLine, SocketDownData.CloudRoadDataProto.class);
if (allList == null || allList.size() == 0) {
return;
}
for (SocketDownData.CloudRoadDataProto cloudRoadData : allList) {
cloudRoadData.toBuilder()
.setWgslat(cloudRoadData.getLon())
.setWgslon(cloudRoadData.getLon())
.setFromType(SocketDownDataHelper.FROM_ROAD_UNIT);
}
data.addAllAllList(allList);
SnapshotSetDataDrawer.getInstance().renderSnapshotData(data.build());
mLocationMockHandler.sendEmptyMessageDelayed(101, 100L);
}
public void onAdasCarDataCallback(AutopilotCarStateInfo stateInfo) {
if (stateInfo != null && stateInfo.getValues() != null) {
@@ -549,23 +519,6 @@ public class MockIntentHandler implements IntentHandler {
br = null;
}
}
// 模拟ADAS数据
else if (msg.what == 3) {
try {
handleMockAdasIntent();
} catch (Exception e) {
try {
if (readers != null) {
for (BufferedReader reader : readers) {
if (reader != null) reader.close();
}
}
} catch (IOException ex) {
ex.printStackTrace();
}
readers = null;
}
}
// 模拟单个车数据
else if (msg.what == 100) {
try {
@@ -574,38 +527,6 @@ public class MockIntentHandler implements IntentHandler {
e.printStackTrace();
}
}
// 处理路侧模拟数据意图
else if (msg.what == 101) {
try {
handleRoadSideMockDataIntent();
} catch (Exception e) {
try {
roadSizeBr.close();
} catch (IOException ex) {
ex.printStackTrace();
}
roadSizeBr = null;
}
}
// 处理模拟Adas汽车意图
else if (msg.what == 8) {
try {
handleMockAdasCarIntent();
} catch (Exception e) {
try {
if (readers2 != null) {
for (BufferedReader reader : readers2) {
if (reader != null) {
reader.close();
}
}
}
} catch (IOException ex) {
ex.printStackTrace();
}
readers2 = null;
}
}
}
};
@@ -685,76 +606,4 @@ public class MockIntentHandler implements IntentHandler {
private BufferedReader[] readers = null;
private BufferedReader[] readers2 = null;
/**
* 处理模拟ADAS数据意图
*/
private boolean handleMockAdasIntent() throws Exception {
final long start = System.currentTimeMillis();
if (readers == null) {
readers = new BufferedReader[10];
for (int i = 0; i < 10; i++) {
readers[i] = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("adas" + i + ".txt")));
}
}
ArrayList<TrafficData> trafficData = new ArrayList<>();
for (BufferedReader reader : readers) {
String line = reader.readLine();
TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
if (adasRecognizedResult != null) {
trafficData.add(adasRecognizedResult);
}
}
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
// ThreadUtils.getSinglePool().execute(() ->
// IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
// );
} else {
IdentifyDataDrawer.getInstance().clearOldMarker();
}
} catch (Exception e) {
e.printStackTrace();
}
return true;
}
/**
* 处理模拟Adas汽车意图
*/
private boolean handleMockAdasCarIntent() throws Exception {
final long start = System.currentTimeMillis();
if (readers2 == null) {
readers2 = new BufferedReader[3];
for (int i = 0; i < 3; i++) {
readers2[i] = new BufferedReader(new InputStreamReader(AbsMogoApplication.getApp().getAssets().open("adascar" + i + ".txt")));
}
}
ArrayList<TrafficData> trafficData = new ArrayList<>();
for (BufferedReader reader : readers2) {
String line = reader.readLine();
TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
if (adasRecognizedResult != null) {
trafficData.add(adasRecognizedResult);
}
}
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
// ThreadUtils.getSinglePool().execute(() ->
// IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
// );
} else {
IdentifyDataDrawer.getInstance().clearOldMarker();
}
} catch (Exception e) {
e.printStackTrace();
}
return true;
}
}