fix bug of track draw

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

@@ -45,6 +45,10 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
             if (FunctionBuildConfig.isDrawIdentifyData) {
                 ThreadUtils.getSinglePool().execute {
                     IdentifyFactory.renderAdasRecognizedResult(trafficData)
+                    val pl = MessagePad.PlanningObject.newBuilder().setUuid(127).build()
+                    val list = mutableListOf<MessagePad.PlanningObject>()
+                    list.add(pl)
+                    IdentifyFactory.renderPlanningWarningObj(list)
                 }
             } else {
                 IdentifyFactory.clearOldMarker()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt

@@ -42,12 +42,14 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
     /**
      * 记录每次实际绘制的交通元素UUID
      */
+    @SuppressLint("NewApi")
     private val trafficDataUuidList = ArraySet<String>()
 
     /**
      * 过滤后的数据集合
      */
-    private val mFilterTrafficData = ArrayList<TrackedObject>()
+    @SuppressLint("NewApi")
+    private val mFilterTrafficData = HashMap<String,TrackedObject>()
 
     /**
      * planning 感知物预警缓存，用于重置color状态
@@ -68,7 +70,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                     val trackObj = mMarkersCaches[trackId]
                     trackObj?.let {
                         colorTrafficData[trackId] = PlanningTrack(
-                            "#FFBCB239",
+                            "#BCB239FF",
                             CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
                         )
                     }
@@ -128,7 +130,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
      *
      * @return 过滤后的数据集合
      */
-    private fun filterTrafficData(trafficData: List<TrackedObject>): ArrayList<TrackedObject> {
+    private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String,TrackedObject> {
         mFilterTrafficData.clear()
         trafficDataUuidList.clear()
         for (data in trafficData) {
@@ -154,7 +156,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                         colorTrafficData.remove(uuid)
                     }
                 }
-                mFilterTrafficData.add(temp)
+                mFilterTrafficData[uuid] = temp
             }
             mMarkersCaches[uuid] = temp
             trafficDataUuidList.add(uuid)
@@ -165,6 +167,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
     /**
      * 清除旧的 marker 数据
      */
+    @SuppressLint("NewApi")
     override fun clearOldMarker() {
         for (uuid in trafficDataUuidList) {
             MogoMarkerManager.getInstance(AbsMogoApplication.getApp())

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java

@@ -15,13 +15,11 @@ import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
 import com.mogo.map.MogoMarkerManager;
 
-import java.util.ArrayList;
-import java.util.Collections;
+import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
-import java.util.Set;
+import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
-import java.util.function.Consumer;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -50,15 +48,20 @@ public class TrackManager {
     /**
      * 记录每次实际绘制的交通元素UUID
      */
-    private final List<String> trafficDataUuid = Collections.synchronizedList(new ArrayList<>());
+    @SuppressLint("NewApi")
+    private final HashMap<String, Long> trafficDataUuid = new HashMap<>();
 
     /**
      * 过滤后的数据集合
      */
-    private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
-
     @SuppressLint("NewApi")
-    public synchronized ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
+    private final HashMap<String, MessagePad.TrackedObject> mFilterTrafficData = new HashMap<>();
+
+    /**
+     * 过滤后的数据集合
+     */
+    @SuppressLint("NewApi")
+    public synchronized HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
         //清空上次返回数据，做到缓存复用
         mFilterTrafficData.clear();
         //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
@@ -99,10 +102,10 @@ public class TrackManager {
                     trackObj = new TrackObj(data);
                 }
             }
-            mFilterTrafficData.add(trackObj.getCache());
+            mFilterTrafficData.put(uuid, trackObj.getCache());
             cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
             mMarkersCaches.put(uuid, trackObj);
-            trafficDataUuid.add(uuid);
+            trafficDataUuid.put(uuid, System.currentTimeMillis());
         }
         return mFilterTrafficData;
     }
@@ -121,9 +124,10 @@ public class TrackManager {
         }
 
         //清除缓存,删除marker
-        Iterator it = trafficDataUuid.iterator();
+        Iterator<Map.Entry<String, Long>> it = trafficDataUuid.entrySet().iterator();
         while (it.hasNext()) {
-            String key = (String) it.next();
+            Map.Entry<String, Long> next = it.next();
+            String key = next.getKey();
             it.remove();
             removeKey(key);
         }