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优化他车道路吸附变道突兀问题

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tongchenfei
2021-03-04 19:45:32 +08:00
parent 6ba2e5eeea
commit 6d5e0d952b
4 changed files with 36 additions and 12 deletions
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32
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java
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@@ -31,6 +31,7 @@ public class SimpleHandlerThreadPool {
private static final String TAG = "SimpleHandlerThreadPool";
private HandlerThread renderThread = new HandlerThread("one-frame-render-thread");
private Handler renderHandler;
private SimpleHandlerThreadPool() {
renderThread.start();
renderHandler = new Handler(renderThread.getLooper());
@@ -108,6 +109,7 @@ public class SimpleHandlerThreadPool {
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) {
@@ -127,6 +129,7 @@ public class SimpleHandlerThreadPool {
|| AdasRecognizedResultDrawer.getInstance().hasCached(uniqueKey)) {
return;
}
IMogoMarker marker = markerCache.get(uniqueKey);
CloudRoadData lastPosition = roadDataCache.put(uniqueKey, cloudRoadData);
if (marker == null || marker.isDestroyed()) {
@@ -140,22 +143,39 @@ public class SimpleHandlerThreadPool {
}
}
if(cloudRoadData.getFromType() == CloudRoadData.FROM_MY_LOCATION) {
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) {
cloudRoadData.setLon(matchedPoint[0]);
cloudRoadData.setLat(matchedPoint[1]);
if ((isMathch == null || !isMathch)) {
if (matchedPoint[2] < 0.5) {
isMathch = true;
}
} else {
if (matchedPoint[2] > 1) {
isMathch = false;
}
}
if (isMathch == null) {
isMathch = false;
}
isMatchStatusCache.put(uniqueKey, isMathch);
if (isMathch) {
cloudRoadData.setLon(matchedPoint[0]);
cloudRoadData.setLat(matchedPoint[1]);
}
}
}
final IMogoMarker finalMarker = marker;
Logger.d(TAG, "work in " + Thread.currentThread().getName());
renderHandler.post(()->{
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());
@@ -176,11 +196,11 @@ public class SimpleHandlerThreadPool {
public void removeDirtyMarker(Collection<String> keys) {
Map<String, IMogoMarker> result = new ArrayMap<>(keys.size());
for (String key : keys) {
if(markerCache.containsKey(key)) {
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);
}
}
}