yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新绘制marker算法、bugfix

Browse Source
This commit is contained in:
wangcongtao
2021-02-25 21:50:29 +08:00
parent 6f6c2858c9
commit 64c74fb66d
8 changed files with 294 additions and 242 deletions
Download Patch File Download Diff File Expand all files Collapse all files

122
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -14,7 +14,6 @@ import com.mogo.module.common.constants.DataTypes;
import com.mogo.realtime.entity.ADASRecognizedResult;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -33,10 +32,11 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
private final Context mContext;
private AdasRecognizedResultDrawer() {
super();
mContext = AbsMogoApplication.getApp();
}
private final Map< String, ADASRecognizedResult> mLastPositions = new ConcurrentHashMap<>();
private final Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if ( sInstance == null ) {
@@ -59,18 +59,33 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
// adas marker 缓存
private final Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
public boolean hasCached( String uniqueKey ) {
return mAdasRecognizedMarkersCaches.containsKey( uniqueKey );
}
public void renderAdasRecognizedResult( List< ADASRecognizedResult > resultList, boolean machineVision, double curSpeed ) {
/**
* 渲染 adas 识别的数据
*
* @param resultList
* @param machineVision
* @param curSpeed
*/
public void renderAdasRecognizedResult( List< ADASRecognizedResult > resultList,
boolean machineVision,
double curSpeed ) {
if ( resultList == null || resultList.isEmpty() ) {
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( DataTypes.TYPE_MARKER_ADAS );
MogoApisHandler.getInstance().getApis()
.getMapServiceApi()
.getMarkerManager( mContext )
.removeMarkers( DataTypes.TYPE_MARKER_ADAS );
mAdasRecognizedMarkersCaches.clear();
mLastPositions.clear();
return;
}
purgeAdasRecognizedData( resultList );
Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
for ( ADASRecognizedResult recognizedListResult : resultList ) {
if ( recognizedListResult == null ) {
continue;
@@ -81,44 +96,34 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
continue;
}
IMogoMarker marker = null;
String uniqueKey = recognizedListResult.uuid;
if ( TextUtils.isEmpty( uniqueKey ) ) {
continue;
}
if ( mAdasRecognizedMarkersCaches.containsKey( uniqueKey ) ) {
marker = mAdasRecognizedMarkersCaches.get( uniqueKey );
}
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
if ( marker == null || marker.isDestroyed() ) {
marker = drawAdasRecognizedDataMarker( recognizedListResult, machineVision, curSpeed );
if ( marker == null ) {
continue;
}
mAdasRecognizedMarkersCaches.put( uniqueKey, marker );
mLastPositions.put( uniqueKey, recognizedListResult );
} else {
ADASRecognizedResult lastPosition = mLastPositions.get( uniqueKey );
mLastPositions.put( uniqueKey, recognizedListResult );
if ( lastPosition != null ) {
List< MogoLatLng > points = new ArrayList<>();
MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
points.add( endLatLon );
if ( DebugConfig.isNotSmooth() ) {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
} else {
long interval = recognizedListResult.systemTime - lastPosition.systemTime;
if ( interval < 45 ) {
interval = 45;
}
interval -= 25;
marker.startSmoothInMs( points, interval );
}
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
}
newAdasRecognizedMarkersCaches.put( uniqueKey, marker );
if ( lastPosition != null && !DebugConfig.isNotSmooth() ) {
List< MogoLatLng > points = new ArrayList<>();
MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
points.add( endLatLon );
long interval = recognizedListResult.systemTime - lastPosition.systemTime;
if ( interval < 45 ) {
interval = 45;
}
interval -= 25;
marker.startSmoothInMs( points, interval );
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
}
showSelfSpeed( mContext,
marker,
@@ -126,47 +131,18 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()
);
}
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mAdasRecognizedMarkersCaches );
mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches;
}
/**
* 过滤adas数据中，不存在的 marker
* 绘制 marker
*
* @param resultList ADAS结果集
* @param recognizedListResult
* @param machineVision
* @param curSpeed
* @return
*/
private void purgeAdasRecognizedData( List< ADASRecognizedResult > resultList ) {
if ( resultList == null || resultList.isEmpty() ) {
return;
}
if ( mAdasRecognizedMarkersCaches.isEmpty() ) {
return;
}
Map< String, IMogoMarker > existMarker = new HashMap<>();
for ( ADASRecognizedResult recognizedListResult : resultList ) {
if ( recognizedListResult == null ) {
continue;
}
String uniqueKey = recognizedListResult.uuid;
if ( mAdasRecognizedMarkersCaches.containsKey( uniqueKey ) ) {
existMarker.put( uniqueKey, mAdasRecognizedMarkersCaches.get( uniqueKey ) );
}
}
if ( !existMarker.isEmpty() ) {
for ( String key : mAdasRecognizedMarkersCaches.keySet() ) {
if ( !existMarker.containsKey( key ) ) {
mLastPositions.remove( key );
try {
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( key );
if(marker != null){
marker.destroy();
}
} catch ( Exception e ) {
e.printStackTrace();
}
}
}
}
}
private IMogoMarker drawAdasRecognizedDataMarker( ADASRecognizedResult recognizedListResult,
boolean machineVision,
double curSpeed ) {
@@ -189,4 +165,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return R.raw.cargrey;
}
public void notifyVrModeChanged() {
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mAdasRecognizedMarkersCaches );
mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
mLastPositions.clear();
}
}

82
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -3,6 +3,8 @@ package com.mogo.module.common.drawer;
import android.content.Context;
import android.graphics.Color;
import android.graphics.Typeface;
import android.os.Handler;
import android.os.Message;
import android.view.ViewGroup;
import android.widget.TextView;
@@ -12,6 +14,10 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.module.common.constants.CarModelType;
import com.mogo.module.common.constants.SafeType;
import com.mogo.utils.WorkThreadHandler;
import java.util.Collection;
import java.util.Map;
public
/**
@@ -31,6 +37,55 @@ class BaseDrawer {
public static final double BOUND_DISTANCE_WARM = 1;
public static final double BOUND_SPEED_WARM = 1.1;
// 移除过期的 marker
public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
public static final int MSG_REMOVE_SNAPSHOT_MARKERS = 9991;
public static final int MSG_REMOVE_ADAS_MARKERS = 9992;
public BaseDrawer() {
if ( mWorkThreadHandler == null ) {
initWorkThreadHandler();
}
}
private static Handler mWorkThreadHandler;
/**
* 专门处理 adas 数据的线程
*/
private static void initWorkThreadHandler() {
if ( mWorkThreadHandler != null ) {
return;
}
mWorkThreadHandler = new Handler( WorkThreadHandler.newInstance( "3d-marker-work-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.what == MSG_REMOVE_DIRTY_MARKERS ) {
if ( msg.obj instanceof Map ) {
removeDirtyMarkers( ( ( Map ) msg.obj ) );
}
}
}
};
}
/**
* 发送消息
*
* @param msg
* @param data
*/
protected void sendMessage( int msg, Object data ) {
if ( mWorkThreadHandler == null ) {
initWorkThreadHandler();
}
Message message = Message.obtain();
message.what = msg;
message.obj = data;
mWorkThreadHandler.sendMessage( message );
}
/**
* 安全类型
*
@@ -103,7 +158,6 @@ class BaseDrawer {
}
private float mLastSpeed = 0;
private TextView mSpeedView = null;
protected void showSelfSpeed( Context context, IMogoMarker mogoMarker, double speed, boolean isVrMode ) {
@@ -114,7 +168,7 @@ class BaseDrawer {
mogoMarker.hideInfoWindow();
return;
}
if ( Math.abs( mLastSpeed - speed ) > 0 ) {
if ( speed > 0 ) {
if ( mSpeedView == null ) {
mSpeedView = new TextView( context );
mSpeedView.setTextColor( Color.WHITE );
@@ -129,4 +183,28 @@ class BaseDrawer {
mogoMarker.hideInfoWindow();
}
}
/**
* 移除markers
*
* @param dirtyMarkers
*/
private static void removeDirtyMarkers( Map< String, IMogoMarker > dirtyMarkers ) {
if ( dirtyMarkers == null || dirtyMarkers.isEmpty() ) {
return;
}
final Collection< IMogoMarker > dirSet = dirtyMarkers.values();
for ( IMogoMarker value : dirSet ) {
if ( value == null || value.isDestroyed() ) {
continue;
}
try {
value.destroy();
} catch ( Exception e ) {
e.printStackTrace();
}
}
dirtyMarkers.clear();
}
}

259
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -7,6 +7,7 @@ import android.view.View;
import android.widget.ImageView;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.IMogoMarkerClickListener;
@@ -20,26 +21,23 @@ 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.ThreadPoolService;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.logger.Logger;
import com.mogo.utils.network.utils.GsonUtil;
import com.zhidao.carchattingprovider.ICarsChattingProvider;
import com.zhidao.carchattingprovider.MogoDriverInfo;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
public
/*
* @author congtaowang
* @since 2020/10/28
*
* 云端数据绘制
*/
/*
* @author congtaowang
* @since 2020/10/28
*
* 云端数据绘制
*/
class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListener, IMogoStatusChangedListener {
private static final String TAG = "SnapshotSetDataDrawer";
@@ -50,9 +48,11 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
private boolean mChangeCarModeStatus;
private SnapshotSetDataDrawer() {
super();
mContext = AbsMogoApplication.getApp();
MogoApisHandler.getInstance().getApis()
.getStatusManagerApi().registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, this );
.getStatusManagerApi()
.registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, this );
}
public static SnapshotSetDataDrawer getInstance() {
@@ -76,71 +76,75 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
}
// 云端 marker 缓存
private final Map< String, IMogoMarker > mCloudSnapshotMarkersCaches = new ConcurrentHashMap<>();
private Map< String, IMogoMarker > mCloudSnapshotMarkersCaches = new ConcurrentHashMap<>();
private final Map< String, CloudRoadData > mLastPositions = new ConcurrentHashMap<>();
private boolean mIsVrMode = false;
// private long mLastReceiveTime = 0L;
// private long mAnimationDuration = 500L;
@Override
public void onStatusChanged( StatusDescriptor descriptor, boolean isTrue ) {
Logger.d( TAG, "%s - %s", descriptor, isTrue );
mChangeCarModeStatus = true;
ThreadPoolService.execute(this::clearOldStyleMarkers);
}
private void clearOldStyleMarkers() {
try {
MogoApisHandler.getInstance().getApis()
.getMapServiceApi().getMarkerManager( mContext )
.removeMarkers( DataTypes.TYPE_MARKER_CLOUD_DATA );
sendMessage( MSG_REMOVE_ADAS_MARKERS, mCloudSnapshotMarkersCaches );
mCloudSnapshotMarkersCaches = new ConcurrentHashMap<>();
if ( mLastPositions != null ) {
mLastPositions.clear();
mCloudSnapshotMarkersCaches.clear();
} catch ( Exception e ) {
}
clearTargetTypeMarkers();
}
private void clearTargetTypeMarkers() {
try {
MogoApisHandler.getInstance().getApis()
.getMapServiceApi().getMarkerManager( mContext )
.removeMarkers( DataTypes.TYPE_MARKER_ADAS );
} catch ( Exception e ) {
}
AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged();
}
/**
* 其他车辆、rsu 车辆数据
* 清除就数据操作
*
* @param data
* @return
*/
private boolean clear( MogoSnapshotSetData data ) {
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
if ( mCloudSnapshotMarkersCaches == null ) {
return true;
}
MogoApisHandler.getInstance().getApis()
.getMapServiceApi().getMarkerManager( mContext )
.removeMarkers( DataTypes.TYPE_MARKER_CLOUD_DATA );
mCloudSnapshotMarkersCaches.clear();
mLastPositions.clear();
return true;
}
if ( data == null || (
( data.getAllList() == null || data.getAllList().isEmpty() ) &&
( data.getNearList() == null || data.getNearList().isEmpty() ) ) ) {
MogoApisHandler.getInstance().getApis()
.getMapServiceApi().getMarkerManager( mContext )
.removeMarkers( DataTypes.TYPE_MARKER_CLOUD_DATA );
mCloudSnapshotMarkersCaches.clear();
mLastPositions.clear();
return true;
}
return false;
}
/**
* mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
*
* @param data 自车周边数据
*/
public void renderSnapshotData( MogoSnapshotSetData data,
boolean machineVision ) {
if ( !MogoApisHandler.getInstance().getApis().getStatusManagerApi().isMainPageLaunched() ) {
if ( !mCloudSnapshotMarkersCaches.isEmpty() ) {
clearOldStyleMarkers();
}
return;
}
if ( data == null || (
( data.getAllList() == null || data.getAllList().isEmpty() ) &&
( data.getNearList() == null || data.getNearList().isEmpty() ) ) ) {
clearOldStyleMarkers();
if ( clear( data ) ) {
return;
}
List< CloudRoadData > allDatumsList = new ArrayList<>();
prepareData( data.getAllList(), allDatumsList );
Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
for ( CloudRoadData cloudRoadData : allDatumsList ) {
if ( cloudRoadData == null ) {
continue;
}
Logger.d( TAG, "%s", GsonUtil.jsonFromObject( cloudRoadData ) );
// 暂时只显示车辆
if ( TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
if ( !isCarType( cloudRoadData.getType() ) ) {
@@ -148,17 +152,15 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
}
}
IMogoMarker marker = null;
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 )
) {
|| AdasRecognizedResultDrawer.getInstance().hasCached( uniqueKey ) ) {
continue;
}
if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) {
marker = mCloudSnapshotMarkersCaches.get( uniqueKey );
}
IMogoMarker marker = mCloudSnapshotMarkersCaches.remove( uniqueKey );
CloudRoadData lastPosition = mLastPositions.put( uniqueKey, cloudRoadData );
if ( marker == null || marker.isDestroyed() ) {
marker = drawSnapshotDataMarker( cloudRoadData, machineVision, data.curSpeed );
if ( marker == null ) {
@@ -167,56 +169,51 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
if ( !TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
bindClickListener( marker );
}
mCloudSnapshotMarkersCaches.put( uniqueKey, marker );
} else {
if ( mChangeCarModeStatus ) {
mChangeCarModeStatus = false;
mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode();
if ( mIsVrMode ) {
Logger.d( TAG, "3D模型-%s", uniqueKey );
marker.getMogoMarkerOptions().set3DMode( true );
marker.use3DResource( getVrModel( cloudRoadData ) );
} else {
Logger.d( TAG, "2D贴图-%s", uniqueKey );
marker.getMogoMarkerOptions().set3DMode( false );
marker.setIcon( ViewUtils.fromView( inflateView( cloudRoadData, machineVision, 0 ) ) );
}
}
}
CloudRoadData lastPosition = mLastPositions.get( uniqueKey );
if ( lastPosition != null ) {
if ( lastPosition.equals( cloudRoadData ) ) {
Logger.d( TAG, "保持位置 - %s", uniqueKey );
marker.setRotateAngle( ( ( float ) cloudRoadData.getHeading() ) );
marker.setPosition( lastPosition.getLat(), lastPosition.getLon() );
} else {
List< MogoLatLng > points = new ArrayList<>();
points.add( new MogoLatLng( lastPosition.getLat(), lastPosition.getLon() ) );
if ( cloudRoadData.getCoordinates() != null && !cloudRoadData.getCoordinates().isEmpty() ) {
for ( CloudLocationInfo coordinate : cloudRoadData.getCoordinates() ) {
points.add( new MogoLatLng( coordinate.getLat(), coordinate.getLon() ) );
}
} else {
points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) );
}
long interval = cloudRoadData.getSystemTime() - lastPosition.getSystemTime();
long interval2 = cloudRoadData.getSatelliteTime() - lastPosition.getSatelliteTime();
interval2 = interval < interval2 || interval2 == 0 ? interval : interval2;
if ( interval2 < 45 ) {
interval2 = 45;
}
interval2 -= 25;
marker.startSmoothInMs( points, interval2 );
Logger.d( TAG, "平滑移动 - %s duration = %s", uniqueKey, interval2 );
newAdasRecognizedMarkersCaches.put( uniqueKey, marker );
if ( mChangeCarModeStatus ) {
mChangeCarModeStatus = false;
mIsVrMode = MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode();
if ( mIsVrMode ) {
Logger.d( TAG, "3D模型-%s", uniqueKey );
marker.getMogoMarkerOptions().set3DMode( true );
marker.use3DResource( getVrModel( cloudRoadData ) );
} else {
Logger.d( TAG, "2D贴图-%s", uniqueKey );
marker.getMogoMarkerOptions().set3DMode( false );
marker.setIcon( ViewUtils.fromView( inflateView( cloudRoadData, machineVision, 0 ) ) );
}
}
if ( ( lastPosition != null || lastPosition.equals( cloudRoadData ) ) && !DebugConfig.isNotSmooth() ) {
List< MogoLatLng > points = new ArrayList<>();
points.add( new MogoLatLng( lastPosition.getLat(), lastPosition.getLon() ) );
if ( cloudRoadData.getCoordinates() != null && !cloudRoadData.getCoordinates().isEmpty() ) {
for ( CloudLocationInfo coordinate : cloudRoadData.getCoordinates() ) {
points.add( new MogoLatLng( coordinate.getLat(), coordinate.getLon() ) );
}
} else {
marker.setRotateAngle( ( float ) cloudRoadData.getHeading() );
marker.setPosition( cloudRoadData.getLat(), cloudRoadData.getLon() );
points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) );
}
showSelfSpeed( mContext, marker, cloudRoadData.getSpeed(), mIsVrMode );
long interval = cloudRoadData.getSystemTime() - lastPosition.getSystemTime();
long interval2 = cloudRoadData.getSatelliteTime() - lastPosition.getSatelliteTime();
interval2 = interval < interval2 || interval2 == 0 ? interval : interval2;
if ( interval2 < 45 ) {
interval2 = 45;
}
interval2 -= 25;
marker.startSmoothInMs( points, interval2 );
Logger.d( TAG, "平滑移动 - %s duration = %s", uniqueKey, interval2 );
} else {
marker.setRotateAngle( ( float ) cloudRoadData.getHeading() );
marker.setPosition( cloudRoadData.getLat(), cloudRoadData.getLon() );
}
mLastPositions.put( uniqueKey, cloudRoadData );
showSelfSpeed( mContext, marker, cloudRoadData.getSpeed(), mIsVrMode );
}
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mCloudSnapshotMarkersCaches );
mCloudSnapshotMarkersCaches = newAdasRecognizedMarkersCaches;
}
@@ -229,15 +226,14 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
private void prepareData( List< CloudRoadData > in, List< CloudRoadData > out ) {
filterData( in );
out.addAll( in );
purgeCloudSnapshotData( out );
}
/**
* vr 模式下显示合并数据，否则只显示上报位置的车辆
* vr 模式下显示合并数据，否则只显示 mogo 车辆上报的数据
*
* @param data 道路数据集合
*/
private void filterData( List<CloudRoadData> data ) {
private void filterData( List< CloudRoadData > data ) {
if ( data == null || data.isEmpty() ) {
return;
}
@@ -255,6 +251,9 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
data.addAll( newList );
}
/**
* 绑定点击事件
*/
private void bindClickListener( IMogoMarker marker ) {
if ( marker == null || marker.isDestroyed() ) {
return;
@@ -263,46 +262,13 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
}
/**
* 过滤本次数据中，不存在的 marker
* 绘制 marker
*
* @param data 道路数据集合
* @param data
* @param machineVision
* @param curSpeed
* @return
*/
private void purgeCloudSnapshotData( List< CloudRoadData > data ) {
if ( data == null || data.isEmpty() ) {
return;
}
if ( mCloudSnapshotMarkersCaches.isEmpty() ) {
return;
}
Map< String, IMogoMarker > existMarker = new HashMap<>();
for ( CloudRoadData cloudRoadData : data ) {
if ( cloudRoadData == null ) {
continue;
}
String uniqueKey = cloudRoadData.getUniqueKey();
if ( TextUtils.isEmpty( uniqueKey ) ) {
continue;
}
if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) {
existMarker.put( uniqueKey, mCloudSnapshotMarkersCaches.get( uniqueKey ) );
}
}
if ( !existMarker.isEmpty() ) {
for ( String key : mCloudSnapshotMarkersCaches.keySet() ) {
if ( !existMarker.containsKey( key ) ) {
mLastPositions.remove( key );
try {
IMogoMarker marker = mCloudSnapshotMarkersCaches.remove( key );
marker.destroy();
} catch ( Exception e ) {
e.printStackTrace();
}
}
}
}
}
private IMogoMarker drawSnapshotDataMarker( CloudRoadData data, boolean machineVision, double curSpeed ) {
if ( data == null ) {
return null;
@@ -329,6 +295,12 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_CLOUD_DATA, options );
}
/**
* 获取车辆 3d 模型
*
* @param data
* @return
*/
private int getVrModel( CloudRoadData data ) {
switch ( data.getFromType() ) {
case CloudRoadData.FROM_ADAS:
@@ -358,6 +330,12 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
return rootView;
}
/**
* 获取车辆2d贴图
*
* @param data
* @return
*/
private int get2DModel( CloudRoadData data ) {
switch ( data.getFromType() ) {
case CloudRoadData.FROM_ADAS:
@@ -380,6 +358,11 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
return true;
}
/**
* 展示用户信息米娜版
*
* @param data
*/
private void showCarCallPanel( CloudRoadData data ) {
MogoDriverInfo driverInfo = new MogoDriverInfo();

2
modules/mogo-module-service/build.gradle
View File

@@ -1,5 +1,4 @@
apply plugin: 'com.android.library'
apply plugin: 'com.android.library'
apply plugin: 'com.alibaba.arouter'
android {
@@ -52,6 +51,7 @@ dependencies {
implementation rootProject.ext.dependencies.rxandroid
implementation rootProject.ext.dependencies.callchatprovider
implementation rootProject.ext.dependencies.androidxrecyclerview
annotationProcessor 'com.elegant.spi:compiler:1.0.3'
if (Boolean.valueOf(RELEASE)) {
api rootProject.ext.dependencies.mogomap

43
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -133,29 +133,28 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
}
});
// 每隔一秒下发的数据
MoGoAiCloudRealTime.registerOnMsgListener(new IMogoCloudOnMsgListener() {
@Override
public void onMsgSend(long id) {
}
@Override
public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData, false);
}
});
// adas 每隔一秒传递的数据
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback(resultList -> {
double speed = 0.0;
if (MogoServices.getInstance().getLastCarLocation() != null) {
speed = MogoServices.getInstance().getLastCarLocation().getSpeed();
}
// 绘制近景识别到的车辆，每秒绘制一次
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList, false, speed);
});
}
// 每隔一秒下发的数据
MoGoAiCloudRealTime.registerOnMsgListener(new IMogoCloudOnMsgListener() {
@Override
public void onMsgSend(long id) {
}
@Override
public void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData, false);
}
});
// adas 每隔一秒传递的数据
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback(resultList -> {
double speed = 0.0;
if (MogoServices.getInstance().getLastCarLocation() != null) {
speed = MogoServices.getInstance().getLastCarLocation().getSpeed();
}
// 绘制近景识别到的车辆，每秒绘制一次
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList, false, speed);
});
}
/**

2
modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java
View File

@@ -24,6 +24,6 @@ public class SPIRealTimeUpload implements IRealTimeProvider {
@Override
public int getLocationAccuracy() {
return 0;
return SnapshotLocationController.getInstance().getDataAccuracy();
}
}

20
modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotLocationController.java
View File

@@ -47,6 +47,7 @@ class SnapshotLocationController {
private CloudLocationInfo mLastLocationInfo = null;
private List< CloudLocationInfo > mLocationList = new ArrayList<>();
private int mDataAccuracy = 0;
/**
* 同步从定位来的数据（也可能是rtk）
@@ -81,7 +82,7 @@ class SnapshotLocationController {
double acceleration = data.optDouble( "acceleration", -1 );
double yawRate = data.optDouble( "yawRate", -1 );
double speed = data.optDouble( "speed", -1 );
long satelliteTime = data.optLong( "satelliteTime" );
long satelliteTime = data.optLong( "satelliteTime" );
long systemTime = data.optLong( "systemTime" );
CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
@@ -105,25 +106,34 @@ class SnapshotLocationController {
public List< CloudLocationInfo > getSendLocationData() {
List< CloudLocationInfo > list = null;
int dataAccuracy = 0;
if ( mMachineCacheList != null ) {
dataAccuracy = 1;
mDataAccuracy = 1;
list = new ArrayList<>( mMachineCacheList );
mMachineCacheList.clear();
}
if ( list == null || list.isEmpty() ) {
dataAccuracy = 0;
mDataAccuracy = 0;
if ( mLocationList != null ) {
list = new ArrayList<>( mLocationList );
mLocationList.clear();
}
}
if ( list == null ) {
if ( list == null || list.isEmpty() ) {
if ( mLastLocationInfo != null ) {
list = new ArrayList();
list.add( mLastLocationInfo );
mLastLocationInfo = null;
}
}
return list;
}
/**
* 数据精度类型，目前按照数据来源标志
*
* @return
*/
public int getDataAccuracy() {
return mDataAccuracy;
}
}

6
modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java
View File

@@ -249,13 +249,13 @@ public class V2XAlarmServer {
LocationUtils.geoCodeSearch(location, new IMogoGeoSearchListener() {
@Override
public void onRegeocodeSearched(MogoRegeocodeResult regeocodeResult) {
Logger.i(MODULE_NAME, "根据经纬度查询结果为：" + regeocodeResult.getRegeocodeAddress().getFormatAddress());
String keyword = "停车场";
boolean isHighWay = false;
if (regeocodeResult == null || regeocodeResult.getRegeocodeAddress() == null ||
regeocodeResult.getRegeocodeAddress().getFormatAddress() == null) {
return;
}
Logger.i(MODULE_NAME, "根据经纬度查询结果为：" + regeocodeResult.getRegeocodeAddress().getFormatAddress());
String keyword = "停车场";
boolean isHighWay = false;
// 如果当前位置是高速则推荐服务区
if (regeocodeResult.getRegeocodeAddress().getFormatAddress().contains("高速")) {
keyword = "停车场|服务区";