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add func in beautyObj of pnc warning

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This commit is contained in:
zhongchao
2022-08-23 11:04:43 +08:00
parent c6a8da48d6
commit 6f2a74571a
4 changed files with 61 additions and 10 deletions
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4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt
View File

@@ -5,9 +5,7 @@ import mogo.telematics.pad.MessagePad.TrackedObject
interface Identify {
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?){
}
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt
View File

@@ -17,6 +17,10 @@ class IdentifyBeautifyDataDrawer : Identify {
private const val TAG = "IdentifyDataDrawer"
}
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
TrackManager.getInstance().renderPlanningWarningObj(planningObjects)
}
/**
* 渲染 adas 识别的数据
*

5
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
View File

@@ -154,11 +154,6 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
//首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
val cacheData = mMarkersCaches[uuid]
if (cacheData != null) {
// if (data.speed < 0.5) {
// temp = data.toBuilder().setHeading(cacheData.heading)
// .setLongitude(cacheData.longitude)
// .setLatitude(cacheData.latitude).build()
// }
if (colorTrafficData.containsKey(uuid)) {
val planningTrack = colorTrafficData[uuid]
if (!timeOut(planningTrack!!.time)) {

58
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
View File

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.map.identify;
import android.annotation.SuppressLint;
import android.os.Build;
import android.util.Log;
import androidx.annotation.RequiresApi;
@@ -11,6 +10,7 @@ import com.google.common.collect.HashBiMap;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
import com.mogo.map.MogoMarkerManager;
@@ -35,6 +35,9 @@ public class TrackManager {
public static double LIMIT_SPEED = 0.45;
private TrackManager() {
}
/**
* marker缓存队列
*/
@@ -57,6 +60,42 @@ public class TrackManager {
@SuppressLint("NewApi")
private final HashMap<String, MessagePad.TrackedObject> mFilterTrafficData = new HashMap<>();
/**
* planning 感知物预警缓存，用于重置color状态
*/
private final ConcurrentHashMap<String, PlanningTrack> colorTrafficData = new ConcurrentHashMap<>();
@SuppressLint("NewApi")
public synchronized void renderPlanningWarningObj(List<MessagePad.PlanningObject> planningObjects) {
colorTrafficData.clear();
//处于美化模式或者自动驾驶状态下展示
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == 2) {
if (planningObjects == null) {
return;
}
planningObjects.forEach(planningObj -> {
String trackId = "" + planningObj.getUuid();
if (mMarkersCaches.containsKey(trackId)) {
TrackObj trackObj = mMarkersCaches.get(trackId);
if (trackObj == null) {
return;
}
if (planningObj.getType() == 0) {
colorTrafficData.put(trackId, new PlanningTrack(
"#D65D5AFF",
CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
));
} else if (planningObj.getType() == 1) {
colorTrafficData.put(trackId, new PlanningTrack(
"#E4DD94FF",
CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
));
}
}
});
}
}
/**
* 过滤后的数据集合
*/
@@ -71,6 +110,17 @@ public class TrackManager {
}
String uuid = "" + data.getUuid();
TrackObj trackObj = mMarkersCaches.get(uuid);
// 判断物体是否与预警信息
if (colorTrafficData.containsKey(uuid)) {
PlanningTrack planningTrack = colorTrafficData.get(uuid);
if (planningTrack != null && !timeOut(planningTrack.getTime())) {
data = data.toBuilder().setColor(planningTrack.getColor()).build();
} else {
colorTrafficData.remove(uuid);
}
}
if (trackObj != null) {
trackObj.updateObj(data);
} else {
@@ -80,7 +130,6 @@ public class TrackManager {
// 融合逻辑 : 判断是否有重合元素
if (cellIdCaches.containsValue(pos)) {
String findSameValue = cellIdCaches.inverse().get(pos);
Log.d("hy uuid : " + findSameValue, " 与新感知物 : " + uuid + "相同");
//uuid处理
data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
TrackObj cacheTrack = mMarkersCaches.get(findSameValue);
@@ -102,6 +151,7 @@ public class TrackManager {
trackObj = new TrackObj(data);
}
}
mFilterTrafficData.put(uuid, trackObj.getCache());
cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
mMarkersCaches.put(uuid, trackObj);
@@ -146,5 +196,9 @@ public class TrackManager {
mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
}
private Boolean timeOut(Double time) {
long duration = (long) (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() * 1000) - (long) (time * 1000);
return duration >= 500;
}
}