[Change]
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
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package com.mogo.eagle.core.function.map;
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import android.content.Context;
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import com.mogo.commons.AbsMogoApplication;
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import com.mogo.eagle.core.data.config.FunctionBuildConfig;
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import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
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import com.mogo.eagle.core.data.traffic.TrafficData;
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import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
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import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
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import com.mogo.map.MogoMarkerManager;
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import com.mogo.module.common.MogoApisHandler;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.concurrent.ConcurrentHashMap;
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import mogo.telematics.pad.MessagePad;
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/**
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* @author xiaoyuzhou
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* @date 2021/10/19 10:45 上午
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* 域控制器识别信息绘制
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*/
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public class IdentifyDataDrawer {
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private static final String TAG = "IdentifyDataDrawer";
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protected final Context mContext;
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private static volatile IdentifyDataDrawer sInstance;
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/**
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* 上一帧数据的缓存
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*/
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private static final ConcurrentHashMap<String, TrafficData> mMarkersCaches = new ConcurrentHashMap<>();
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/**
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* 已经感知不到的脏数据
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*/
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private final ConcurrentHashMap<String, TrafficData> mDirtyPositions = new ConcurrentHashMap<>();
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/**
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* 记录每次实际绘制的交通元素UUID
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*/
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private final ArrayList<String> trafficDataUuidList = new ArrayList<>();
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/**
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* 过滤后的数据集合
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*/
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private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
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private IdentifyDataDrawer() {
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mContext = AbsMogoApplication.getApp();
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addPreVehicleModel();
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}
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public static IdentifyDataDrawer getInstance() {
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if (sInstance == null) {
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synchronized (IdentifyDataDrawer.class) {
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if (sInstance == null) {
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sInstance = new IdentifyDataDrawer();
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}
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}
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}
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return sInstance;
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}
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public synchronized void release() {
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sInstance = null;
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}
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/**
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* 渲染 adas 识别的数据
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*
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* @param resultList adas感知融合数据
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*/
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public void renderAdasRecognizedResult(List<MessagePad.TrackedObject> resultList) {
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if (resultList == null || resultList.isEmpty()) {
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clearOldMarker();
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CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……");
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return;
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}
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if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
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clearOldMarker();
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CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式");
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return;
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}
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// 循环将集合中的数据提取记录
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for (MessagePad.TrackedObject trafficData : resultList) {
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// 过滤掉未知感知数据
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if (!FunctionBuildConfig.isDrawUnknownIdentifyData &&
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trafficData.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
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//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
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continue;
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}
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trafficDataUuidList.add("" + trafficData.getUuid());
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}
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// // 找出上一针数据中已经不在本次数据中存在的数据
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// for (String uuid : mMarkersCaches.keySet()) {
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// if (!trafficDataUuidList.contains(uuid)) {
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// mDirtyPositions.put(uuid, mMarkersCaches.get(uuid));
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// }
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// }
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// // 移除脏数据
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// for (String uuid : mDirtyPositions.keySet()) {
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// MogoApisHandler.getInstance().getApis()
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// .getMapServiceApi()
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// .getMarkerManager(mContext)
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// .removeMarker(uuid);
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// }
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// 绘制新数据
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MogoMarkerManager.getInstance(mContext)
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.updateBatchMarkerPosition(filterTrafficData(resultList));
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}
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/**
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* 数据过滤器
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*
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* @return 过滤后的数据集合
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*/
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private ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
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mFilterTrafficData.clear();
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for (MessagePad.TrackedObject data : trafficData) {
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// 过滤掉未知感知数据
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if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
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//CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染");
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continue;
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}
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mFilterTrafficData.add(data);
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}
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return mFilterTrafficData;
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}
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/**
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* 清除旧的 marker 数据
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*/
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public void clearOldMarker() {
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for (String uuid : trafficDataUuidList) {
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MogoMarkerManager.getInstance(mContext)
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.removeMarker(uuid);
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}
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trafficDataUuidList.clear();
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}
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private void addPreVehicleModel() {
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CallerLogger.INSTANCE.d(TAG, "添加感知模型到地图中……");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi=");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE, "添加感知模型到地图中……preVehicleStrPeople=");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE, "添加感知模型到地图中……preVehicleStrBicycle=");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE, "添加感知模型到地图中……preVehicleStrTaChe=");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO, "添加感知模型到地图中……preVehicleStrMoto=");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS, "添加感知模型到地图中……preVehicleStrBus=");
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addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK, "添加感知模型到地图中……preVehicleStrTruck=");
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}
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/**
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* 添加模型到地图中
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*
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* @param typeTrafficIdWeiZhi
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* @param s
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*/
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private void addPreVehicleModelWeiZhi(TrafficTypeEnum typeTrafficIdWeiZhi, String s) {
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String preVehicleStrWeiZhi = MogoMarkerManager.getInstance(mContext)
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.addPreVehicleModel(typeTrafficIdWeiZhi.getType(),
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typeTrafficIdWeiZhi.getTraffic3DIconId());
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CallerLogger.INSTANCE.d(TAG, s + preVehicleStrWeiZhi);
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if (preVehicleStrWeiZhi == null) {
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UiThreadHandler.postDelayed(new Runnable() {
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@Override
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public void run() {
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CallerLogger.INSTANCE.w(TAG, "添加感知模型到地图中失败，尝试重复添加……");
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addPreVehicleModelWeiZhi(typeTrafficIdWeiZhi, s);
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}
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}, 1000L);
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}
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}
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}
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@@ -5,7 +5,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
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import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
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import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
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import com.mogo.eagle.core.utilcode.util.ThreadUtils
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import com.mogo.module.common.drawer.IdentifyDataDrawer
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import mogo.telematics.pad.MessagePad
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import mogo.telematics.pad.MessagePad.TrackedObject
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