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[8.0.0][Opt]回退到上一个版本的它车渲染的代码

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This commit is contained in:
chenfufeng
2025-05-26 17:19:35 +08:00
parent 3f535339f8
commit 3cdf4f09ab
1 changed files with 2 additions and 75 deletions
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77
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
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@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
import android.os.Handler
import android.os.Message
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
@@ -10,12 +9,10 @@ import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import com.mogo.map.MogoMap
import com.zhjt.service.chain.ChainLog
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.concurrent.TimeUnit
object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConfigListener {
@@ -31,36 +28,9 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
internal val aiCloudDataDrawer = IdentifyAiCloudDataDrawer()
}
// 预测
object PreDriverIdentify {
internal val preDataDrawer = IdentifyOriginDataDrawer()
// internal val preDataDrawer2 = IdentifyPredictionDataDrawer()
// internal val preDataDrawer3 = IdentifyPredictionDataDrawer()
internal val preDataDrawer2 = IdentifyOriginDataDrawer()
internal val preDataDrawer3 = IdentifyOriginDataDrawer()
}
// 决策
object DesDriverIdentify {
internal val desDataDrawer = IdentifyOriginDataDrawer()
}
private var identify: Identify = DriverIdentify.originDataDrawer
private var aiCloudIdentify: Identify? = null
// 预测
private var preIdentify: Identify = PreDriverIdentify.preDataDrawer
// private var preIdentify2: Identify = PreDriverIdentify.preDataDrawer2
// private var preIdentify3: Identify = PreDriverIdentify.preDataDrawer3
// 决策
private var desIdentify: Identify = DesDriverIdentify.desDataDrawer
private var startTime: Long = 0L
// private var preStartTime: Long = 0L
// private var desStartTime: Long = 0L
private var dockerVersion: String? = null
fun initType() {
@@ -81,8 +51,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
private const val MSG_DATA_OBU_WARNING_REMOVE = 4
private const val MSG_DATA_CLEAR = 5
private const val MSG_DATA_AI_CLEAR = 6
private const val MSG_DATA_PRE_TRACK = 7
private const val MSG_DATA_PRE_CLEAR = 8
// 维护一个线程定时轮询数据进行地图绘制
private val mDrawerHandler: Handler =
@@ -100,23 +68,13 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
if (internal >= 1000) {
lostFrame(internal.toString())
identify.clearOldMarker()
preIdentify.clearOldMarker()
}
sendEmptyMessageDelayed(MSG_CHECK, 1000L)
}
MSG_DATA_TRACK -> {
if (msg.obj is List<*>) {
val objectList = msg.obj as List<TrackedObject>?
val mapInstanceList = ArrayList<String>()
mapInstanceList.add(MogoMap.DEFAULT)
// if (FunctionBuildConfig.isDrawDecIdentifyData) {
// mapInstanceList.add(MogoMap.SMALL_DES_MAP)
// }
if (FunctionBuildConfig.isDrawPreIdentifyData) {
mapInstanceList.add(MogoMap.SMALL_PRED_MAP)
}
identify.renderAdasRegResults(objectList, mapInstanceList)
identify.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
startTime = System.nanoTime()
}
}
@@ -130,15 +88,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
}
}
MSG_DATA_PRE_TRACK -> {
if (msg.obj is List<*>) {
val objectList = msg.obj as List<Prediction2025.mPredictionObjectApp>
// preIdentify.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP)
// preIdentify2.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP2)
// preIdentify3.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP3)
}
}
MSG_DATA_WARNING -> {
if (msg.obj is List<*>) {
identify.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
@@ -158,21 +107,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
}
MSG_DATA_CLEAR -> {
val mapInstanceList = ArrayList<String>()
mapInstanceList.add(MogoMap.DEFAULT)
mapInstanceList.add(MogoMap.SMALL_PRED_MAP)
identify.clearOldMarkers(mapInstanceList)
identify.clearOldMarker()
}
MSG_DATA_AI_CLEAR -> {
aiCloudIdentify!!.clearAiMarker(msg.data.getString("mapInstance")!!)
}
MSG_DATA_PRE_CLEAR -> {
preIdentify.clearPredictionMarker(MogoMap.SMALL_PRED_MAP)
// preIdentify2.clearPredictionMarker(MogoMap.SMALL_PRED_MAP2)
// preIdentify3.clearPredictionMarker(MogoMap.SMALL_PRED_MAP3)
}
}
}
}
@@ -184,13 +124,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
mDrawerHandler.sendMessage(message)
}
override fun renderPredictionResult(predictionObjectList: List<Prediction2025.mPredictionObjectApp>?) {
val message = Message.obtain()
message.what = MSG_DATA_PRE_TRACK
message.obj = predictionObjectList
mDrawerHandler.sendMessage(message)
}
override fun renderAiCloudResult(
resultList: List<SocketDownData.CloudRoadDataProto>,
mapInstance: String
@@ -222,12 +155,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
mDrawerHandler.sendMessage(message)
}
override fun clearPredictionMarker(mapInstance: String) {
val message = Message.obtain()
message.what = MSG_DATA_PRE_CLEAR
mDrawerHandler.sendMessage(message)
}
override fun updateTrackerWarningInfo(trafficData: TrafficData) {
super.updateTrackerWarningInfo(trafficData)
val message = Message.obtain()