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优化显示逻辑

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This commit is contained in:
wangcongtao
2021-03-05 16:06:42 +08:00
parent 19f8787f77
commit 3a888ecd8f
14 changed files with 386 additions and 267 deletions
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8
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -1024,17 +1024,17 @@ public class AMapViewWrapper implements IMogoMapView,
private float lastRoadId;
@Override
public double[] matchRoad( double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
double wgs[] = CoordinateUtils.transformGcj02toWgs84( lat, lon );
double wgs[] = new double[]{lon, lat};//CoordinateUtils.transformGcj02toWgs84( lat, lon );
SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad( ( ( float ) wgs[0] ), ( ( float ) wgs[1] ), ( ( float ) angle ), isGpsLocation, isRTK );
if ( singlePointRoadInfo != null
&& singlePointRoadInfo.getCoords() != null
&& !singlePointRoadInfo.getCoords().isEmpty() ) {
double matchedPoint[] = PointInterpolatorUtil.mergeToRoad( wgs[0], wgs[1], singlePointRoadInfo.getCoords() );
// return CoordinateUtils.transformWgsToGcj( matchedPoint[1], matchedPoint[0] );
double[] trans = CoordinateUtils.transformWgsToGcj(matchedPoint[1], matchedPoint[0]);
// double[] trans = CoordinateUtils.transformWgsToGcj(matchedPoint[1], matchedPoint[0]);
matchedPoint[0] = trans[0];
matchedPoint[1] = trans[1];
// matchedPoint[0] = trans[0];
// matchedPoint[1] = trans[1];
// MarkerOptions options
// = new MarkerOptions();
// options.markerIcon( R.drawable.red )

20
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
View File

@@ -509,6 +509,26 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
}
}
@Override
public void use3DResource( String resName ) {
try {
mMarker.getMarkeOptions().setVrIcon( true );
mMarker.setMarkerOptions( mMarker.getMarkeOptions().setMarkerIconName( resName ) );
} catch ( Exception e ) {
Logger.e( TAG, e, "use3DResource" );
}
}
@Override
public void use2DResource( String resName ) {
try {
mMarker.getMarkeOptions().setVrIcon( false );
mMarker.setMarkerOptions( mMarker.getMarkeOptions().setMarkerIconName( resName ) );
} catch ( Exception e ) {
Logger.e( TAG, e, "use3DResource" );
}
}
@Override
public void setAnchorColor( String anchorColor ) {
mMarker.setMarkerOptions( mMarker.getMarkeOptions().anchorColor( anchorColor ) );

108
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java
View File

@@ -5,6 +5,7 @@ import com.mogo.map.MogoLatLng;
import com.mogo.utils.logger.Logger;
import com.zhidaoauto.map.sdk.open.query.LonLatPoint;
import java.util.ArrayList;
import java.util.List;
/**
@@ -16,6 +17,35 @@ public class PointInterpolatorUtil {
private static final String TAG = "PointInterpolatorUtil";
private static final int DISTANCE_THRESHOLD = 2;
/**
* 在两点之间插值
*
* @param start
* @param end
* @param frameInterval
* @return
*/
public static List< MogoLatLng > interpolate( MogoLatLng start, MogoLatLng end, long frameInterval ) {
if ( start == null || end == null ) {
return null;
}
long locInterval = end.time - start.time;
int interpolateFrame = ( int ) ( locInterval / frameInterval ) - 1;
List< MogoLatLng > arrayList = new ArrayList<>();
arrayList.add( start );
if ( interpolateFrame > 0 ) {
double lonStep = ( end.lon - start.lon ) / ( interpolateFrame + 1 );
double latStep = ( end.lat - start.lat ) / ( interpolateFrame + 1 );
for ( int i = 0; i < interpolateFrame; i++ ) {
double lon = start.lon + lonStep * ( i + 1 );
double lat = start.lat + latStep * ( i + 1 );
arrayList.add( new MogoLatLng( lon, lat ) );
}
}
arrayList.add( end );
return arrayList;
}
/**
* 在(x1,y1) (x2,y2)中间插入一些点，使每两个点之间距离<={@link #DISTANCE_THRESHOLD}，利用如下公式进行计算
* xn = x1 + (x2 - x1)*n/a
@@ -31,22 +61,22 @@ public class PointInterpolatorUtil {
* @deprecated 这个方法有问题，并不能算出来想要的值
*/
@Deprecated
public static void interpolate(List<MogoLatLng> points) {
if (points.size() >= 2) {
public static void interpolate( List< MogoLatLng > points ) {
if ( points.size() >= 2 ) {
// 插值
for (int i = 0; i < points.size() - 1; i++) {
MogoLatLng current = points.get(i);
MogoLatLng next = points.get(i + 1);
float distance = CoordinateUtils.calculateLineDistance(current.lon, current.lat, next.lon, next.lat);
Logger.d(TAG, i + ": " + distance);
if (distance > DISTANCE_THRESHOLD) {
int inter = (int) (distance / DISTANCE_THRESHOLD) + 1;
for (int j = 1; j < inter; j++) {
double newLat = current.lat + (next.lat - current.lat) * j / inter;
double newLon = current.lon + (next.lon - current.lon) * j / inter;
Logger.d(TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon);
points.add(i + 1, new MogoLatLng(newLat, newLon));
current = points.get(++i);
for ( int i = 0; i < points.size() - 1; i++ ) {
MogoLatLng current = points.get( i );
MogoLatLng next = points.get( i + 1 );
float distance = CoordinateUtils.calculateLineDistance( current.lon, current.lat, next.lon, next.lat );
Logger.d( TAG, i + ": " + distance );
if ( distance > DISTANCE_THRESHOLD ) {
int inter = ( int ) ( distance / DISTANCE_THRESHOLD ) + 1;
for ( int j = 1; j < inter; j++ ) {
double newLat = current.lat + ( next.lat - current.lat ) * j / inter;
double newLon = current.lon + ( next.lon - current.lon ) * j / inter;
Logger.d( TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon );
points.add( i + 1, new MogoLatLng( newLat, newLon ) );
current = points.get( ++i );
}
}
}
@@ -54,51 +84,51 @@ public class PointInterpolatorUtil {
}
}
public static double[] mergeToRoad(double lon, double lat, List<LonLatPoint> road) {
public static double[] mergeToRoad( double lon, double lat, List< LonLatPoint > road ) {
closeStart = 0;
closeEnd = road.size() - 1;
getCloseTwoPoint(lon, lat, road);
LonLatPoint start = road.get(closeStart);
LonLatPoint end = road.get(closeEnd);
Logger.d(TAG, "mergeToRoad start: " + closeStart + " end: " + closeEnd);
getCloseTwoPoint( lon, lat, road );
LonLatPoint start = road.get( closeStart );
LonLatPoint end = road.get( closeEnd );
Logger.d( TAG, "mergeToRoad start: " + closeStart + " end: " + closeEnd );
// return getMid(start, end);
double[] foot = getFoot(lon, lat, start, end);
double[] foot = getFoot( lon, lat, start, end );
float d = CoordinateUtils.calculateLineDistance(foot[0], foot[1], lon, lat);
Logger.d(TAG, "distance to mid line==" + d);
float d = CoordinateUtils.calculateLineDistance( foot[0], foot[1], lon, lat );
Logger.d( TAG, "distance to mid line==" + d );
return new double[]{foot[0], foot[1], d};
}
private static int closeStart = 0;
private static int closeEnd = 0;
private static void getCloseTwoPoint(double lon, double lat, List<LonLatPoint> road) {
if (closeEnd - closeStart == 1) {
private static void getCloseTwoPoint( double lon, double lat, List< LonLatPoint > road ) {
if ( closeEnd - closeStart == 1 ) {
return;
}
LonLatPoint start = road.get(closeStart);
LonLatPoint end = road.get(closeEnd);
float startDistance = CoordinateUtils.calculateLineDistance(start.getLongitude(), start.getLatitude(), lon, lat);
float endDistance = CoordinateUtils.calculateLineDistance(end.getLongitude(), end.getLatitude(), lon, lat);
if (startDistance > endDistance) {
closeStart += (closeEnd - closeStart) / 2;
LonLatPoint start = road.get( closeStart );
LonLatPoint end = road.get( closeEnd );
float startDistance = CoordinateUtils.calculateLineDistance( start.getLongitude(), start.getLatitude(), lon, lat );
float endDistance = CoordinateUtils.calculateLineDistance( end.getLongitude(), end.getLatitude(), lon, lat );
if ( startDistance > endDistance ) {
closeStart += ( closeEnd - closeStart ) / 2;
} else {
closeEnd -= (closeEnd - closeStart) / 2;
closeEnd -= ( closeEnd - closeStart ) / 2;
}
getCloseTwoPoint(lon, lat, road);
getCloseTwoPoint( lon, lat, road );
}
private static double[] getFoot(double lon, double lat, LonLatPoint beginPt, LonLatPoint endPt) {
private static double[] getFoot( double lon, double lat, LonLatPoint beginPt, LonLatPoint endPt ) {
double dx = beginPt.getLatitude() - endPt.getLatitude();
double dy = beginPt.getLongitude() - endPt.getLongitude();
double u = (lat - beginPt.getLatitude()) * (beginPt.getLatitude() - endPt.getLatitude()) +
(lon - beginPt.getLongitude()) * (beginPt.getLongitude() - endPt.getLongitude());
u = u / (dx * dx + dy * dy);
double u = ( lat - beginPt.getLatitude() ) * ( beginPt.getLatitude() - endPt.getLatitude() ) +
( lon - beginPt.getLongitude() ) * ( beginPt.getLongitude() - endPt.getLongitude() );
u = u / ( dx * dx + dy * dy );
return new double[]{beginPt.getLongitude() + u * dy, beginPt.getLatitude() + u * dx};
}
private static double[] getMid(LonLatPoint start, LonLatPoint end) {
return new double[]{(start.getLongitude() + end.getLongitude()) / 2, (start.getLatitude() + end.getLatitude()) / 2};
private static double[] getMid( LonLatPoint start, LonLatPoint end ) {
return new double[]{( start.getLongitude() + end.getLongitude() ) / 2, ( start.getLatitude() + end.getLatitude() ) / 2};
}
}

10
libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java
View File

@@ -17,6 +17,7 @@ public class MogoLatLng implements Parcelable {
@Deprecated
public final double lng;
public final double lon;
public long time;
public MogoLatLng( double lat, double lon ) {
this.lat = lat;
@@ -42,6 +43,13 @@ public class MogoLatLng implements Parcelable {
return lon;
}
public long getTime() {
return time;
}
public void setTime( long time ) {
this.time = time;
}
@Override
public boolean equals( Object o ) {
@@ -75,12 +83,14 @@ public class MogoLatLng implements Parcelable {
dest.writeDouble( this.lat );
dest.writeDouble( this.lng );
dest.writeDouble( this.lon );
dest.writeLong( this.time );
}
protected MogoLatLng( Parcel in ) {
this.lat = in.readDouble();
this.lng = in.readDouble();
this.lon = in.readDouble();
this.time = in.readLong();
}
public static final Creator< MogoLatLng > CREATOR = new Creator< MogoLatLng >() {

18
libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
View File

@@ -351,6 +351,24 @@ public interface IMogoMarker {
}
/**
* 使用缓存过的3d资源
*
* @param resName
*/
default void use3DResource( String resName ) {
}
/**
* 使用缓存过的2d资源
*
* @param resName
*/
default void use2DResource( String resName ) {
}
/**
* 设置3D车模颜色
*

78
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,6 +1,8 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
@@ -13,6 +15,7 @@ import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.kt.ScopeManager;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import java.util.List;
@@ -34,9 +37,39 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
private final Context mContext;
private Handler pointSettingHandler = null;
private AdasRecognizedResultDrawer() {
super();
mContext = AbsMogoApplication.getApp();
initHandler();
}
private class SettingData {
public IMogoMarker marker;
public List< PointData > points;
}
private void initHandler() {
pointSettingHandler = new Handler( WorkThreadHandler.newInstance( "point-setting-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.obj instanceof SettingData ) {
List< PointData > points = ( ( SettingData ) msg.obj ).points;
IMogoMarker marker = ( ( SettingData ) msg.obj ).marker;
for ( int i = 0; i < points.size(); i++ ) {
marker.setRotateAngle( points.get( i ).angle );
marker.setPosition( points.get( i ).point.lat, points.get( i ).point.lon );
try {
Thread.sleep( 10 );
} catch ( InterruptedException e ) {
e.printStackTrace();
}
}
}
}
};
}
private final Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
@@ -106,17 +139,17 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
final long start = System.currentTimeMillis();
double[] matchedPoint = matchRoad( recognizedListResult.lon,
recognizedListResult.lat,
recognizedListResult.heading,
recognizedListResult.dataAccuracy == 1
);
Log.i( "match-road-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
if ( matchedPoint != null ) {
recognizedListResult.lon = matchedPoint[0];
recognizedListResult.lat = matchedPoint[1];
}
// final long start = System.currentTimeMillis();
// double[] matchedPoint = matchRoad( recognizedListResult.lon,
// recognizedListResult.lat,
// recognizedListResult.heading,
// recognizedListResult.dataAccuracy == 1
// );
// Log.i( "match-road-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
// if ( matchedPoint != null ) {
// recognizedListResult.lon = matchedPoint[0];
// recognizedListResult.lat = matchedPoint[1];
// }
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
@@ -131,8 +164,26 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if ( lastPosition != null ) {
MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
long interval = computeAnimDuration( lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime );
marker.addDynamicAnchorPosition( endLatLon, interval );
Logger.d( TAG, "anim duration: %s", interval );
MogoLatLng lastPoint = new MogoLatLng( lastPosition.lat, lastPosition.lon );
lastPoint.setTime( lastPosition.satelliteTime );
endLatLon.setTime( recognizedListResult.satelliteTime );
PointData endPoint = new PointData();
endPoint.point = endLatLon;
endPoint.angle = (float)recognizedListResult.heading;
PointData startPoint = new PointData();
startPoint.point = lastPoint;
startPoint.angle = (float)lastPosition.heading;
List< PointData > points = interpolate( startPoint, endPoint, 30, interval );
Message msg = new Message();
SettingData obj = new SettingData();
obj.marker = marker;
obj.points = points;
msg.obj = obj;
pointSettingHandler.sendMessage( msg );
// marker.startSmoothInMs( points, interval );
// marker.addDynamicAnchorPosition( endLatLon, interval );
Logger.d( TAG, "anim duration: %s, points size = %s", interval, points.size() );
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
@@ -162,6 +213,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
.owner( DataTypes.TYPE_MARKER_ADAS )
.anchor( 0.5f, 0.5f )
.set3DMode( true )
.gps( true )
.controlAngle( true )
.resName( mMarkerCachesResMd5Values.get( resIdVal ) )
.icon3DRes( resId )

44
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -17,10 +17,14 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.utils.WorkThreadHandler;
import java.util.ArrayList;
import java.util.Collection;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import static java.lang.Math.PI;
public
/**
* @author congtaowang
@@ -215,4 +219,44 @@ class BaseDrawer {
}
return interval;
}
/**
* 在两点之间插值
*
* @param start
* @param end
* @param frameInterval
* @return
*/
public static List< PointData > interpolate( PointData start, PointData end, long frameInterval, long duration ) {
if ( start == null || end == null ) {
return null;
}
int interpolateFrame = ( int ) ( duration / frameInterval ) - 1;
List< PointData > arrayList = new ArrayList<>();
double _angle = ( end.angle + start.angle ) / 2;
if ( Math.abs( end.angle - start.angle ) > 5 ) {
_angle = Math.atan2( Math.abs( start.point.lon - end.point.lon ), Math.abs( start.point.lat - end.point.lat ) ) * ( 180 / PI );
}
arrayList.add( start );
if ( interpolateFrame > 0 ) {
double lonStep = ( end.point.lon - start.point.lon ) / ( interpolateFrame + 1 );
double latStep = ( end.point.lat - start.point.lat ) / ( interpolateFrame + 1 );
for ( int i = 0; i < interpolateFrame; i++ ) {
double lon = start.point.lon + lonStep * ( i + 1 );
double lat = start.point.lat + latStep * ( i + 1 );
PointData pd = new PointData();
pd.point = new MogoLatLng( lat, lon );
pd.angle = ( float ) _angle;
arrayList.add( pd );
}
}
arrayList.add( end );
return arrayList;
}
public static class PointData {
public MogoLatLng point;
public float angle;
}
}

135
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -22,6 +22,7 @@ import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.logger.Logger;
import com.zhidao.carchattingprovider.ICarsChattingProvider;
import com.zhidao.carchattingprovider.MogoDriverInfo;
@@ -96,6 +97,18 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged();
}
public boolean isVrMode() {
return mIsVrMode;
}
public boolean isChangeCarModeStatus() {
return mChangeCarModeStatus;
}
public void setChangeCarModeStatus( boolean mChangeCarModeStatus ) {
this.mChangeCarModeStatus = mChangeCarModeStatus;
}
/**
* 清除就数据操作
*
@@ -131,7 +144,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
return false;
}
Map<String,String> cloudKeyCache = new ArrayMap<>();
Map< String, String > cloudKeyCache = new ArrayMap<>();
/**
* mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
@@ -146,87 +159,16 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
List< CloudRoadData > allDatumsList = new ArrayList<>();
prepareData( data.getAllList(), allDatumsList );
Map< String, String > newMarkersCaches = new ArrayMap<>(allDatumsList.size());
Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>(allDatumsList.size());
Map< String, String > newMarkersCaches = new ArrayMap<>( allDatumsList.size() );
for ( CloudRoadData cloudRoadData : allDatumsList ) {
cloudKeyCache.remove(cloudRoadData.getUniqueKey());
newMarkersCaches.put(cloudRoadData.getUniqueKey(), cloudRoadData.getUniqueKey());
SimpleHandlerThreadPool.getInstance().post(cloudRoadData);
// ScopeManager.INSTANCE.mainScope( () -> {
// rendCarOneFrame( cloudRoadData, newAdasRecognizedMarkersCaches );
// } );
cloudKeyCache.remove( cloudRoadData.getUniqueKey() );
newMarkersCaches.put( cloudRoadData.getUniqueKey(), cloudRoadData.getUniqueKey() );
SimpleHandlerThreadPool.getInstance().post( cloudRoadData );
}
SimpleHandlerThreadPool.getInstance().removeDirtyMarker(cloudKeyCache.values());
SimpleHandlerThreadPool.getInstance().removeDirtyMarker( cloudKeyCache.values() );
cloudKeyCache = newMarkersCaches;
// ScopeManager.INSTANCE.mainScope( () -> {
// sendMessage( MSG_REMOVE_DIRTY_MARKERS, mCloudSnapshotMarkersCaches );
// mCloudSnapshotMarkersCaches = newAdasRecognizedMarkersCaches;
// } );
}
public void rendCarOneFrame( CloudRoadData cloudRoadData, Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
if ( cloudRoadData == null ) {
return;
}
// 暂时只显示车辆
if ( TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
if ( !isCarType( cloudRoadData.getType() ) ) {
return;
}
}
String uniqueKey = cloudRoadData.getUniqueKey();
if ( TextUtils.isEmpty( uniqueKey )
// 本地过滤重复下发的adas识别车辆
|| AdasRecognizedResultDrawer.getInstance().hasCached( uniqueKey ) ) {
return;
}
IMogoMarker marker = mCloudSnapshotMarkersCaches.remove( uniqueKey );
CloudRoadData lastPosition = mLastPositions.put( uniqueKey, cloudRoadData );
if ( marker == null || marker.isDestroyed() ) {
marker = drawSnapshotDataMarker( cloudRoadData );
if ( marker == null ) {
return;
}
if ( !TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
bindClickListener( marker );
}
}
if(newAdasRecognizedMarkersCaches != null) {
newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
}
//
// if ( mChangeCarModeStatus ) {
// mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode();
// mChangeCarModeStatus = false;
// if ( mIsVrMode ) {
// marker.getMogoMarkerOptions().set3DMode( true );
// marker.use3DResource( getVrModelResId( cloudRoadData ) );
// } else {
// marker.getMogoMarkerOptions().set3DMode( false );
// marker.setIcon( ViewUtils.fromView( inflateView( cloudRoadData ) ) );
// }
// }
if ( lastPosition != null && !lastPosition.equals( cloudRoadData ) ) {
long interval = computeAnimDuration( lastPosition.getSystemTime(), cloudRoadData.getSystemTime(), lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime() );
interval = System.currentTimeMillis() - mLastPositionExecutionTime.get( uniqueKey );
marker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ), interval );
Logger.d( TAG, "anim duration: %s", interval );
} else {
marker.setRotateAngle( ( float ) cloudRoadData.getHeading() );
marker.setPosition( cloudRoadData.getLat(), cloudRoadData.getLon() );
Logger.d( TAG, "设置点位置" );
}
mLastPositionExecutionTime.put( uniqueKey, System.currentTimeMillis() );
showSelfSpeed( mContext, marker, cloudRoadData.getSpeed(), MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() );
}
/**
* 过滤数据
*
@@ -287,8 +229,9 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
.anchor( 0.5f, 0.5f )
.rotate( ( float ) data.getHeading() )
.object( data )
.gps( true )
.controlAngle( true )
.position( new MogoLatLng( data.getLat(), data.getLon() ) );
.position( new MogoLatLng( data.getWgslat(), data.getWgslon() ) );
String resIdVal = null;
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
options.set3DMode( true );
@@ -308,13 +251,17 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
return marker;
}
public String get3DCacheId( String resIdVal ) {
return mMarkerCachesResMd5Values.get( resIdVal );
}
/**
* 获取车辆 3d 模型
*
* @param data
* @return
*/
private int getVrModelResId( CloudRoadData data ) {
public int getVrModelResId( CloudRoadData data ) {
switch ( data.getFromType() ) {
case CloudRoadData.FROM_ADAS:
return R.raw.cargrey;
@@ -332,7 +279,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
* @param data
* @return
*/
private View inflateView( CloudRoadData data ) {
public View inflateView( CloudRoadData 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 );
@@ -388,4 +335,32 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
}
}
public void changeIconResourceIfNecessary( CloudRoadData cloudRoadData, IMogoMarker marker ) {
if ( isChangeCarModeStatus() ) {
setChangeCarModeStatus( false );
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
marker.getMogoMarkerOptions().set3DMode( true );
int resId = getVrModelResId( cloudRoadData );
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 );
}
}
}
}
}

172
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java
View File

@@ -29,12 +29,12 @@ import static com.mogo.module.common.drawer.BaseDrawer.MSG_REMOVE_DIRTY_MARKERS;
*/
public class SimpleHandlerThreadPool {
private static final String TAG = "SimpleHandlerThreadPool";
private HandlerThread renderThread = new HandlerThread("one-frame-render-thread");
private HandlerThread renderThread = new HandlerThread( "one-frame-render-thread" );
private Handler renderHandler;
private SimpleHandlerThreadPool() {
renderThread.start();
renderHandler = new Handler(renderThread.getLooper());
renderHandler = new Handler( renderThread.getLooper() );
}
private static final SimpleHandlerThreadPool INSTANCE = new SimpleHandlerThreadPool();
@@ -50,38 +50,38 @@ public class SimpleHandlerThreadPool {
private int threadCount = DEFAULT_THREAD_COUNT;
public void setThreadCount(int threadCount) {
public void setThreadCount( int threadCount ) {
this.threadCount = threadCount;
}
Map<String, WorkHandler> dataHandlerMap = new ArrayMap<>();
Map<Integer, WorkHandler> handlerPool = new ArrayMap<>();
Map< String, WorkHandler > dataHandlerMap = new ArrayMap<>();
Map< Integer, WorkHandler > handlerPool = new ArrayMap<>();
private int lastUseThreadId = -1;
public void post(CloudRoadData cloudRoadData) {
public void post( CloudRoadData cloudRoadData ) {
String uuid = cloudRoadData.getUniqueKey();
Message msg;
if (dataHandlerMap.containsKey(uuid)) {
msg = dataHandlerMap.get(uuid).obtainMessage();
if ( dataHandlerMap.containsKey( uuid ) ) {
msg = dataHandlerMap.get( uuid ).obtainMessage();
} else {
if (handlerPool.size() < threadCount) {
if ( handlerPool.size() < threadCount ) {
// 新开线程
lastUseThreadId = handlerPool.size();
HandlerThread thread = new HandlerThread("one-frame-work-thread-" + handlerPool.size());
HandlerThread thread = new HandlerThread( "one-frame-work-thread-" + handlerPool.size() );
thread.start();
WorkHandler handler = new WorkHandler(thread.getLooper());
handlerPool.put(handlerPool.size(), handler);
dataHandlerMap.put(uuid, handler);
WorkHandler handler = new WorkHandler( thread.getLooper() );
handlerPool.put( handlerPool.size(), handler );
dataHandlerMap.put( uuid, handler );
msg = handler.obtainMessage();
} else {
// 复用线程
if (lastUseThreadId == threadCount - 1) {
if ( lastUseThreadId == threadCount - 1 ) {
lastUseThreadId = 0;
} else {
lastUseThreadId++;
}
WorkHandler handler = handlerPool.get(lastUseThreadId);
dataHandlerMap.put(uuid, handler);
WorkHandler handler = handlerPool.get( lastUseThreadId );
dataHandlerMap.put( uuid, handler );
msg = handler.obtainMessage();
}
}
@@ -89,118 +89,116 @@ public class SimpleHandlerThreadPool {
msg.sendToTarget();
}
public void removeDirtyMarker(Collection<String> keys) {
for (WorkHandler handler : handlerPool.values()) {
handler.removeDirtyMarker(keys);
public void removeDirtyMarker( Collection< String > keys ) {
for ( WorkHandler handler : handlerPool.values() ) {
handler.removeDirtyMarker( keys );
}
}
class WorkHandler extends Handler {
public WorkHandler(Looper looper) {
super(looper);
public WorkHandler( Looper looper ) {
super( looper );
}
@Override
public void handleMessage(Message msg) {
CloudRoadData cloudRoadData = (CloudRoadData) msg.obj;
rendCarOneFrame(cloudRoadData);
public void handleMessage( Message msg ) {
CloudRoadData cloudRoadData = ( CloudRoadData ) msg.obj;
renderCarOneFrame( cloudRoadData );
}
private final Map<String, IMogoMarker> markerCache = new ArrayMap<>();
private final Map<String, CloudRoadData> roadDataCache = new ArrayMap<>();
private final Map<String, Long> lastExecutionTimeCache = new ArrayMap<>();
private final Map<String, Boolean> isMatchStatusCache = new ArrayMap<>();
private final Map< String, IMogoMarker > markerCache = new ArrayMap<>();
private final Map< String, CloudRoadData > roadDataCache = new ArrayMap<>();
private final Map< String, Long > lastExecutionTimeCache = new ArrayMap<>();
private final Map< String, Boolean > isMatchStatusCache = new ArrayMap<>();
private void rendCarOneFrame(CloudRoadData cloudRoadData) {
if (cloudRoadData == null) {
private void renderCarOneFrame( CloudRoadData cloudRoadData ) {
if ( cloudRoadData == null ) {
return;
}
// 暂时只显示车辆
if (TextUtils.isEmpty(cloudRoadData.getSn())) {
if (!SnapshotSetDataDrawer.getInstance().isCarType(cloudRoadData.getType())) {
if ( TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
if ( !SnapshotSetDataDrawer.getInstance().isCarType( cloudRoadData.getType() ) ) {
return;
}
}
String uniqueKey = cloudRoadData.getUniqueKey();
if (TextUtils.isEmpty(uniqueKey)
if ( TextUtils.isEmpty( uniqueKey )
// 本地过滤重复下发的adas识别车辆
|| AdasRecognizedResultDrawer.getInstance().hasCached(uniqueKey)) {
|| AdasRecognizedResultDrawer.getInstance().hasCached( uniqueKey ) ) {
return;
}
IMogoMarker marker = markerCache.get(uniqueKey);
CloudRoadData lastPosition = roadDataCache.put(uniqueKey, cloudRoadData);
if (marker == null || marker.isDestroyed()) {
marker = SnapshotSetDataDrawer.getInstance().drawSnapshotDataMarker(cloudRoadData);
if (marker == null) {
IMogoMarker marker = markerCache.get( uniqueKey );
CloudRoadData lastPosition = roadDataCache.put( uniqueKey, cloudRoadData );
if ( marker == null || marker.isDestroyed() ) {
marker = SnapshotSetDataDrawer.getInstance().drawSnapshotDataMarker( cloudRoadData );
if ( marker == null ) {
return;
}
markerCache.put(uniqueKey, marker);
if (!TextUtils.isEmpty(cloudRoadData.getSn())) {
SnapshotSetDataDrawer.getInstance().bindClickListener(marker);
markerCache.put( uniqueKey, marker );
if ( !TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
SnapshotSetDataDrawer.getInstance().bindClickListener( marker );
}
}
// if (cloudRoadData.getFromType() != CloudRoadData.FROM_MY_LOCATION) {
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad(cloudRoadData.getLon(),
cloudRoadData.getLat(),
cloudRoadData.getHeading(),
true
);
Boolean isMathch = isMatchStatusCache.get(uniqueKey);
if (matchedPoint != null) {
if ((isMathch == null || !isMathch)) {
if (matchedPoint[2] < 0.5) {
isMathch = true;
}
} else {
if (matchedPoint[2] > 1) {
isMathch = false;
}
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( cloudRoadData.getWgslon(),
cloudRoadData.getWgslat(),
cloudRoadData.getHeading(),
true
);
Boolean isMatch = isMatchStatusCache.get( uniqueKey );
if ( matchedPoint != null ) {
if ( ( isMatch == null || !isMatch ) ) {
if ( matchedPoint[2] < 0.5 ) {
isMatch = true;
}
if (isMathch == null) {
isMathch = false;
}
isMatchStatusCache.put(uniqueKey, isMathch);
if (isMathch) {
cloudRoadData.setLon(matchedPoint[0]);
cloudRoadData.setLat(matchedPoint[1]);
} else {
if ( matchedPoint[2] > 1 ) {
isMatch = false;
}
}
// }
if ( isMatch == null ) {
isMatch = false;
}
isMatchStatusCache.put( uniqueKey, isMatch );
if ( isMatch ) {
cloudRoadData.setLon( matchedPoint[0] );
cloudRoadData.setLat( matchedPoint[1] );
}
}
SnapshotSetDataDrawer.getInstance().changeIconResourceIfNecessary( cloudRoadData, marker );
final IMogoMarker finalMarker = marker;
Logger.d(TAG, "work in " + Thread.currentThread().getName());
renderHandler.post(() -> {
Logger.d( TAG, "work in " + Thread.currentThread().getName() );
renderHandler.post( () -> {
// 由于地图现在不支持addDynamicAnchorPosition并发，所以工作线程仅做相关计算，真正绘制发送到另外一条绘制线程中做
if (lastPosition != null && !lastPosition.equals(cloudRoadData)) {
long interval = SnapshotSetDataDrawer.getInstance().computeAnimDuration(lastPosition.getSystemTime(), cloudRoadData.getSystemTime(), lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime());
interval = SystemClock.uptimeMillis() - lastExecutionTimeCache.get(uniqueKey);
finalMarker.addDynamicAnchorPosition(new MogoLatLng(cloudRoadData.getLat(), cloudRoadData.getLon()), interval);
Logger.d(TAG, "anim duration: %s in thread: %s", interval, Thread.currentThread().getName());
if ( lastPosition != null && !lastPosition.equals( cloudRoadData ) ) {
long interval = SystemClock.uptimeMillis() - lastExecutionTimeCache.get( uniqueKey );
finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ), interval );
Logger.d( TAG, "anim duration: %s in thread: %s", interval, Thread.currentThread().getName() );
} else {
finalMarker.setRotateAngle((float) cloudRoadData.getHeading());
finalMarker.setPosition(cloudRoadData.getLat(), cloudRoadData.getLon());
Logger.d(TAG, "设置点位置 in thread: %s", Thread.currentThread().getName());
finalMarker.setRotateAngle( ( float ) cloudRoadData.getHeading() );
finalMarker.setPosition( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() );
Logger.d( TAG, "设置点位置 in thread: %s", Thread.currentThread().getName() );
}
lastExecutionTimeCache.put(uniqueKey, SystemClock.uptimeMillis());
SnapshotSetDataDrawer.getInstance().showSelfSpeed(AbsMogoApplication.getApp(), finalMarker, cloudRoadData.getSpeed(), MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
});
lastExecutionTimeCache.put( uniqueKey, SystemClock.uptimeMillis() );
SnapshotSetDataDrawer.getInstance().showSelfSpeed( AbsMogoApplication.getApp(), finalMarker, cloudRoadData.getSpeed(), MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() );
} );
}
public void removeDirtyMarker(Collection<String> keys) {
Map<String, IMogoMarker> result = new ArrayMap<>(keys.size());
for (String key : keys) {
if (markerCache.containsKey(key)) {
result.put(key, markerCache.remove(key));
public void removeDirtyMarker( Collection< String > keys ) {
Map< String, IMogoMarker > result = new ArrayMap<>( keys.size() );
for ( String key : keys ) {
if ( markerCache.containsKey( key ) ) {
result.put( key, markerCache.remove( key ) );
}
}
SnapshotSetDataDrawer.getInstance().sendMessage(MSG_REMOVE_DIRTY_MARKERS, result);
SnapshotSetDataDrawer.getInstance().sendMessage( MSG_REMOVE_DIRTY_MARKERS, result );
}
}
}

45
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -557,9 +557,9 @@ public class MockIntentHandler implements IntentHandler {
break;
case 47:
mLocationMockHandler.sendEmptyMessageDelayed( 1, 200L );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
// mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
// mLocationMockHandler.sendEmptyMessageDelayed( 21, 200 );
// mLocationMockHandler.sendEmptyMessageDelayed( 3, 300L );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
break;
}
}
@@ -624,26 +624,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
}
}
};
private Handler mLocationMockHandler2 = new Handler( WorkThreadHandler.newInstance( "loc-mock-thread2" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.what == 2 ) {
try {
handleMockSnapshotIntent();
} catch ( Exception e ) {
try {
br2.close();
} catch ( IOException ex ) {
ex.printStackTrace();
}
br2 = null;
}
} else if ( msg.what == 3 ) {
}else if ( msg.what == 3 ) {
try {
handleMockAdasIntent();
} catch ( Exception e ) {
@@ -692,9 +673,9 @@ public class MockIntentHandler implements IntentHandler {
if ( cloudRoadData == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
cloudRoadData.setLon( coor[0] );
cloudRoadData.setLat( coor[1] );
// double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
// cloudRoadData.setLon( coor[0] );
// cloudRoadData.setLat( coor[1] );
allList.add( cloudRoadData );
data.setAllList( allList );
@@ -721,10 +702,10 @@ public class MockIntentHandler implements IntentHandler {
if ( cloudRoadData == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
// double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
cloudRoadData.setUuid("1_21");
cloudRoadData.setLon( coor[0] );
cloudRoadData.setLat( coor[1] );
// cloudRoadData.setLon( coor[0] );
// cloudRoadData.setLat( coor[1] );
allList.add( cloudRoadData );
data.setAllList( allList );
@@ -750,15 +731,15 @@ public class MockIntentHandler implements IntentHandler {
if ( adasRecognizedResult == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( adasRecognizedResult.lat, adasRecognizedResult.lon );
adasRecognizedResult.lon = coor[0];
adasRecognizedResult.lat = coor[1];
// double[] coor = CoordinateUtils.transformWgsToGcj( adasRecognizedResult.lat, adasRecognizedResult.lon );
// adasRecognizedResult.lon = coor[0];
// adasRecognizedResult.lat = coor[1];
allList.add( adasRecognizedResult );
final long start = System.currentTimeMillis();
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( allList );
Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
mLocationMockHandler2.sendEmptyMessageDelayed( 3, 100L );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 100L );
return true;
}

1
modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
View File

@@ -70,7 +70,6 @@ public class MogoRTKLocation {
cloudLocationInfo.setSpeed( location.getSpeed() );
cloudLocationInfo.setSatelliteTime( location.getTime() );
cloudLocationInfo.setSystemTime( System.currentTimeMillis() );
cloudLocationInfo.convertCoor2GCJ02();
SnapshotLocationController.getInstance().syncLocationInfo( cloudLocationInfo );
} else {
Logger.e( TAG, "location == null" );

1
modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java
View File

@@ -93,7 +93,6 @@ class SnapshotLocationController {
cloudLocationInfo.setSpeed( speed );
cloudLocationInfo.setSatelliteTime( satelliteTime );
cloudLocationInfo.setSystemTime( systemTime );
cloudLocationInfo.convertCoor2GCJ02();
mLastLocationInfo = cloudLocationInfo;
mMachineCacheList.add( cloudLocationInfo );
}

10
services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java
View File

@@ -59,14 +59,8 @@ class AdasObjectUtils {
ADASRecognizedResult result = new ADASRecognizedResult();
result.uuid = model.getUuid();
double[] amapCoord = CoordinateUtils.transformWgsToGcj( model.getLat(), model.getLon() );
if ( amapCoord != null ) {
result.lat = amapCoord[1];
result.lon = amapCoord[0];
} else {
result.lat = model.getLat();
result.lon = model.getLon();
}
result.lat = model.getLat();
result.lon = model.getLon();
result.type = Integer.parseInt( model.getType() );
result.heading = model.getHeading();
result.systemTime = Long.parseLong( model.getSystemTime() );

3
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -248,8 +248,7 @@ public class MogoADASController implements IMogoADASController {
if ( DebugConfig.isMapBased() ) {
Logger.d( TAG, "requestGetCarModelListInfo" );
// 向adas发送车模list
String carModelList = SharedPrefsMgr.getInstance( context ).getString(
"CAR_MODEL_LIST", "" );
String carModelList = SharedPrefsMgr.getInstance( context ).getString( "CAR_MODEL_LIST", "" );
if ( carModelList != null && !carModelList.isEmpty() ) {
AutopilotServiceManage.getInstance().settingCarModelListInfo( carModelList );
}