diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index 145ec8c136..f6d698082d 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -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 ) diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java index 09a6cd26c2..d3b073b70c 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java @@ -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 ) ); diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java index 7c8629624a..0b7996bd1e 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java @@ -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 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 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 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}; } } diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java index 0c4cf88651..8c6a682513 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java @@ -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 >() { diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java index 19106725ba..b8cdda5f4a 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java @@ -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 * diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index a0530faed4..fc3a195ded 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -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 ) diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java index 7d6ab81410..d25742d92a 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java @@ -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; + } } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java index c3baa3b673..f7ed56ead9 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java @@ -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 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 ); + } + } + } + } } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java index 5aa2db2910..417481eee2 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java @@ -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 dataHandlerMap = new ArrayMap<>(); - Map 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 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 markerCache = new ArrayMap<>(); - private final Map roadDataCache = new ArrayMap<>(); - private final Map lastExecutionTimeCache = new ArrayMap<>(); - private final Map 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 keys) { - Map 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 ); } } } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java index 54388ab963..3affe20f28 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -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; } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java index 3bbe6d2ed6..414ccde657 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java @@ -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" ); diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java index 9a4c8f3200..189f4705bf 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java @@ -93,7 +93,6 @@ class SnapshotLocationController { cloudLocationInfo.setSpeed( speed ); cloudLocationInfo.setSatelliteTime( satelliteTime ); cloudLocationInfo.setSystemTime( systemTime ); - cloudLocationInfo.convertCoor2GCJ02(); mLastLocationInfo = cloudLocationInfo; mMachineCacheList.add( cloudLocationInfo ); } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java index ccfbb5ffc8..8183c0f01f 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java @@ -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() ); diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index 41ee764f58..22f3bd7caa 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -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 ); }