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优化显示逻辑

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This commit is contained in:
wangcongtao
2021-03-16 10:06:48 +08:00
parent 100edfcd54
commit 5e0d18dbc2
21 changed files with 265 additions and 151 deletions
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119
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,6 +1,7 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.graphics.BitmapFactory;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
@@ -15,6 +16,7 @@ import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.SimpleHandlerThreadPool;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
@@ -24,6 +26,8 @@ import java.util.Map;
import java.util.Random;
import java.util.concurrent.ConcurrentHashMap;
import static java.lang.Math.PI;
public
/**
* @author congtaowang
@@ -167,7 +171,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches;
}
private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>();
// private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>();
private String markerRes;
private String markerRes2;
/**
* 绘制某个物体的一个数据
@@ -177,7 +184,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
*/
private void renderAdasOneFrame( ADASRecognizedResult recognizedListResult, Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
// 暂时只显示车辆
if ( !isCarType( recognizedListResult.type ) ) {
if ( !isRenderType( recognizedListResult.type ) ) {
return;
}
@@ -186,6 +193,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
final double lon = recognizedListResult.lon;
final double lat = recognizedListResult.lat;
final long start = System.currentTimeMillis();
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.uuid, recognizedListResult.lon,
@@ -193,31 +202,52 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
recognizedListResult.heading,
true
);
Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
if ( matchedPoint != null ) {
if ( ( isMatch == null || !isMatch ) ) {
if ( matchedPoint[2] < 0.5 ) {
isMatch = true;
}
} else {
if ( matchedPoint[2] > 1 ) {
isMatch = false;
}
}
if ( isMatch == null ) {
isMatch = false;
}
mIsMatchStatusCache.put( uniqueKey, isMatch );
if ( isMatch ) {
ADASRecognizedResult lastPosition = mLastPositions.remove( uniqueKey );
if ( matchedPoint != null ) {
Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
boolean match = matchedPoint[2] < 0.45 && matchedPoint[2] > 0;
if ( lastPosition != null ) {
double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastPosition.lon), Math.abs(matchedPoint[1] - lastPosition.lat)) * (180 / PI);
Logger.d( TAG, "matchPoint %s angel = %s", lineCounter,_angle );
if ( _angle > 22.5 ) {
match = false;
}
}
// mIsMatchStatusCache.put( uniqueKey, match );
if ( match ) {
recognizedListResult.lon = matchedPoint[0];
recognizedListResult.lat = matchedPoint[1];
}
}
mLastPositions.put( uniqueKey, recognizedListResult );
// Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
// if ( matchedPoint != null ) {
// if ( ( isMatch == null || !isMatch ) ) {
// if ( matchedPoint[2] < 0.5 ) {
// isMatch = true;
// }
// } else {
// if ( matchedPoint[2] > 1 ) {
// isMatch = false;
// }
// }
// if ( isMatch == null ) {
// isMatch = false;
// }
// mIsMatchStatusCache.put( uniqueKey, isMatch );
//
// if ( isMatch ) {
// recognizedListResult.lon = matchedPoint[0];
// recognizedListResult.lat = matchedPoint[1];
// }
// }
Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
if ( marker == null || marker.isDestroyed() ) {
marker = drawAdasRecognizedDataMarker( recognizedListResult );
@@ -247,7 +277,40 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
final IMogoMarker renderRef = marker;
final long intervalRef = interval;
SimpleHandlerThreadPool.getInstance().postRender( () -> {
renderRef.addDynamicAnchorPosition( endPoint.point, intervalRef );
renderRef.addDynamicAnchorPosition( endPoint.point, endPoint.angle, intervalRef );
//
// // 原坐标
// MogoMarkerOptions options2 = new MogoMarkerOptions();
// options2.gps( true )
// .position( new MogoLatLng( lat, lon ) )
// .anchor( 0.5f, 0.5f )
// .rotate( endPoint.angle );
// if ( TextUtils.isEmpty( markerRes2 ) ) {
// options2.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.sy ) );
// } else {
// options2.resName( markerRes2 );
// }
// IMogoMarker marker2 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( TAG, options2 );
// if ( TextUtils.isEmpty( markerRes2 ) ) {
// markerRes2 = marker2.getMarkerResName();
// }
//
// // 匹配坐标
// MogoMarkerOptions options = new MogoMarkerOptions();
// options.gps( true )
// .position( endPoint.point )
// .anchor( 0.5f, 0.5f )
// .rotate( endPoint.angle );
// if ( TextUtils.isEmpty( markerRes ) ) {
// options.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.sr ) );
// } else {
// options.resName( markerRes );
// }
// IMogoMarker marker1 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( TAG, options );
// if ( TextUtils.isEmpty( markerRes ) ) {
// markerRes = marker1.getMarkerResName();
// }
} );
// method 2
@@ -268,12 +331,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
SpeedData obj = new SpeedData();
obj.context = mContext;
obj.marker = marker;
obj.speed = recognizedListResult.speed;
obj.speed = recognizedListResult.speed;//;lineCounter++
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
mRenderThreadHandler.sendMessage( msg );
}
int lineCounter = 0;
/**
* 绘制 marker
*
@@ -286,13 +351,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
String resIdVal = null;
int resId = getVrModelResId();
int resId = getModelRes( recognizedListResult.type );
resIdVal = resId + "";
MogoMarkerOptions options = new MogoMarkerOptions()
.owner( DataTypes.TYPE_MARKER_ADAS )
.anchor( 0.5f, 0.5f )
.set3DMode( true )
.gps( true )
.anchorColor( getModelRenderColor( CloudRoadData.FROM_ADAS, recognizedListResult.type ) )
.controlAngle( true )
.resName( mMarkerCachesResMd5Values.get( resIdVal ) )
.icon3DRes( resId )
@@ -303,15 +369,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return marker;
}
/**
* 获取 vr 模型资源 id
*
* @return
*/
private int getVrModelResId() {
return R.raw.cargrey;
}
/**
* vr 模式切换
*/

58
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -14,7 +14,9 @@ import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.utils.WorkThreadHandler;
import java.util.ArrayList;
@@ -103,14 +105,17 @@ class BaseDrawer {
}
/**
* 判断是否是车辆
* 判断是否是绘制内容
*
* @param type
* @return
*/
public boolean isCarType( int type ) {
public boolean isRenderType( int type ) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
if ( recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdMoto
|| recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdPerson
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
return true;
@@ -118,6 +123,53 @@ class BaseDrawer {
return false;
}
/**
* 获取3D锚点模型资源
*
* @param type
* @return
*/
public int getModelRes( int type ) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
if ( recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
return R.raw.othercar;
} else if ( recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdMoto ) {
return R.raw.motorbike;
}
return R.raw.people;
}
/**
* @param fromType {@link com.mogo.realtime.entity.CloudRoadData}
* @return
*/
protected String getModelRenderColor( int fromType, int modelType ) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( modelType );
if ( recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
if ( fromType == CloudRoadData.FROM_ADAS ) {
// 灰色
return "#D8D8D8FF";
} else if ( fromType == CloudRoadData.FROM_ROAD_UNIT ) {
// 绿色
return "#3FE792FF";
} else {
// 蓝色
return "#5A8DFFFF";
}
} else if ( recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdMoto ) {
// 灰色
return "#D8D8D8FF";
}
// 灰色
return "#D8D8D8FF";
}
private TextView mSpeedView = null;
/**
@@ -215,7 +267,7 @@ class BaseDrawer {
.getMapServiceApi()
.getMapUIController()
.matchRoad( id, lon, lat, angle, true, isRtk );
Log.i("timer-matchRoad", "cost " + (System.currentTimeMillis() - start) + "ms");
Log.i( "timer-matchRoad", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
return matchRoad;
}

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java
View File

@@ -105,7 +105,7 @@ class OnlineCarDrawer {
String sn = MarkerDrawer.getInstance().getPrimaryKeyFromEntity( markerOnlineCar );
IMogoMarker mogoMarker = existCarMap.get( sn );
if ( mogoMarker == null || mogoMarker.isDestroyed() ) {
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, false, MarkerDrawer.MARKER_Z_INDEX_LOW, R.raw.taxi, listener );
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, false, MarkerDrawer.MARKER_Z_INDEX_LOW, R.raw.othercar, listener );
}
if ( mogoMarker != null ) {
mogoMarker.setVisible( true );

85
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -1,7 +1,6 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.os.Message;
import android.text.TextUtils;
import android.util.ArrayMap;
import android.view.LayoutInflater;
@@ -17,9 +16,7 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.api.CallChatApi;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.drawer.marker.IMarkerView;
import com.mogo.module.common.utils.SimpleHandlerThreadPool;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
@@ -189,7 +186,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
*/
private void renderSnapshotOneFrame(CloudRoadData recognizedListResult, Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
// 暂时只显示车辆
if ( !isCarType( recognizedListResult.getType() ) ) {
if ( !isRenderType( recognizedListResult.getType() ) ) {
return;
}
@@ -200,33 +197,33 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
final long start = System.currentTimeMillis();
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.getUniqueKey(), recognizedListResult.getWgslon(),
recognizedListResult.getWgslat(),
recognizedListResult.getHeading(),
true
);
Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
if ( matchedPoint != null ) {
if ( ( isMatch == null || !isMatch ) ) {
if ( matchedPoint[2] < 0.5 ) {
isMatch = true;
}
} else {
if ( matchedPoint[2] > 1 ) {
isMatch = false;
}
}
if ( isMatch == null ) {
isMatch = false;
}
mIsMatchStatusCache.put( uniqueKey, isMatch );
if ( isMatch ) {
recognizedListResult.setWgslon(matchedPoint[0]);
recognizedListResult.setWgslat(matchedPoint[1]);
}
}
Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
// double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.getUniqueKey(), recognizedListResult.getWgslon(),
// recognizedListResult.getWgslat(),
// recognizedListResult.getHeading(),
// true
// );
// Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
// if ( matchedPoint != null ) {
// if ( ( isMatch == null || !isMatch ) ) {
// if ( matchedPoint[2] < 0.5 ) {
// isMatch = true;
// }
// } else {
// if ( matchedPoint[2] > 1 ) {
// isMatch = false;
// }
// }
// if ( isMatch == null ) {
// isMatch = false;
// }
// mIsMatchStatusCache.put( uniqueKey, isMatch );
//
// if ( isMatch ) {
// recognizedListResult.setWgslon(matchedPoint[0]);
// recognizedListResult.setWgslat(matchedPoint[1]);
// }
// }
// Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
CloudRoadData lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
@@ -259,7 +256,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
final IMogoMarker renderRef = marker;
final long intervalRef = interval;
SimpleHandlerThreadPool.getInstance().postRender( () -> {
renderRef.addDynamicAnchorPosition( endPoint.point, intervalRef );
renderRef.addDynamicAnchorPosition( endPoint.point, endPoint.angle, intervalRef );
} );
// method 2
@@ -350,8 +347,8 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
String resIdVal = null;
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
options.set3DMode( true );
options.anchorColor( "#00FF00" );
int resId = getVrModelResId( data );
options.anchorColor( getModelRenderColor( data.getFromType(), data.getType() ) );
int resId = getModelRes( data.getType() );
resIdVal = resId + "";
options.resName( mMarkerCachesResMd5Values.get( resIdVal ) );
options.icon3DRes( resId );
@@ -370,24 +367,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
return mMarkerCachesResMd5Values.get( resIdVal );
}
/**
* 获取车辆 3d 模型
*
* @param data 道路数据
* @return 3D车辆模型id
*/
public int getVrModelResId( CloudRoadData data ) {
switch ( data.getFromType() ) {
case CloudRoadData.FROM_ADAS:
return R.raw.cargrey;
case CloudRoadData.FROM_ROAD_UNIT:
return R.raw.cargreen;
case CloudRoadData.FROM_MY_LOCATION:
default:
return R.raw.carblue;
}
}
/**
* 生成 2d marker 资源
*
@@ -456,7 +435,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
setChangeCarModeStatus( false );
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
marker.getMogoMarkerOptions().set3DMode( true );
int resId = getVrModelResId( cloudRoadData );
int resId = getModelRes( cloudRoadData.getType() );
String resName = get3DCacheId( resId + "" );
if ( TextUtils.isEmpty( resName ) ) {
marker.use3DResource( resId );

4
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java
View File

@@ -181,7 +181,7 @@ public class SimpleHandlerThreadPool {
// 暂时只显示车辆
if ( TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
if ( !SnapshotSetDataDrawer.getInstance().isCarType( cloudRoadData.getType() ) ) {
if ( !SnapshotSetDataDrawer.getInstance().isRenderType( cloudRoadData.getType() ) ) {
return;
}
}
@@ -288,7 +288,7 @@ public class SimpleHandlerThreadPool {
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 ) ) {
finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ), finalInterval );
finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ),(float)cloudRoadData.getHeading(), finalInterval );
Logger.d( TAG, "anim duration: %s in thread: %s", finalInterval, Thread.currentThread().getName() );
} else {
finalMarker.setRotateAngle( ( float ) cloudRoadData.getHeading() );