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优化显示逻辑

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This commit is contained in:
wangcongtao
2021-03-08 10:10:22 +08:00
parent fec7879df3
commit 79638fac6f
8 changed files with 8457 additions and 47 deletions
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2
libraries/map-custom/build.gradle
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@@ -67,7 +67,7 @@ dependencies {
implementation project(':foudations:mogo-commons')
}
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.1.8'
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.2.0'
// implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
}

113
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
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@@ -4,7 +4,7 @@ import android.content.Context;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import android.util.ArrayMap;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
@@ -13,7 +13,6 @@ import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.kt.ScopeManager;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
@@ -38,6 +37,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
private final Context mContext;
private Handler pointSettingHandler = null;
public static final int MSG_POINTS_SETTING = 9;
public static final int MSG_SET_POINT = 10;
private AdasRecognizedResultDrawer() {
super();
@@ -45,33 +46,51 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
initHandler();
}
private class SettingData {
public IMogoMarker marker;
public List< PointData > points;
}
private void initHandler() {
pointSettingHandler = new Handler( WorkThreadHandler.newInstance( "point-setting-thread" ).getLooper() ) {
@Override
public void handleMessage( Message msg ) {
super.handleMessage( msg );
if ( msg.obj instanceof SettingData ) {
List< PointData > points = ( ( SettingData ) msg.obj ).points;
IMogoMarker marker = ( ( SettingData ) msg.obj ).marker;
for ( int i = 0; i < points.size(); i++ ) {
marker.setRotateAngle( points.get( i ).angle );
marker.setPosition( points.get( i ).point.lat, points.get( i ).point.lon );
try {
Thread.sleep( 10 );
} catch ( InterruptedException e ) {
e.printStackTrace();
}
if ( msg.what == MSG_POINTS_SETTING ) {
if ( msg.obj instanceof SettingData ) {
startSettingPointLooper( ( ( SettingData ) msg.obj ) );
}
} else if ( msg.what == MSG_SET_POINT ) {
if ( msg.obj instanceof PointData ) {
moveMarker( ( ( PointData ) msg.obj ) );
}
}
}
};
}
/**
* 开启设置位置的循环
*
* @param data
*/
private void startSettingPointLooper( SettingData data ) {
List< PointData > points = data.points;
for ( int i = 0; i < points.size(); i++ ) {
Message msg = Message.obtain();
msg.what = MSG_SET_POINT;
msg.obj = points.get( i );
pointSettingHandler.sendMessageDelayed( msg, ( i + 1 ) * 10 );
}
}
/**
* 设置 marker 的点到新的位置
*
* @param pointData
*/
private void moveMarker( PointData pointData ) {
if ( pointData == null ) {
return;
}
pointData.move();
}
private final Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
@@ -117,17 +136,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if ( recognizedListResult == null ) {
continue;
}
ScopeManager.INSTANCE.adasScope( () -> {
renderAdasOneFrame( recognizedListResult, newAdasRecognizedMarkersCaches );
} );
renderAdasOneFrame( recognizedListResult, newAdasRecognizedMarkersCaches );
}
ScopeManager.INSTANCE.adasScope( () -> {
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mAdasRecognizedMarkersCaches );
mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches;
} );
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mAdasRecognizedMarkersCaches );
mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches;
}
private final Map< String, Boolean > isMatchStatusCache = new ArrayMap<>();
private void renderAdasOneFrame( ADASRecognizedResult recognizedListResult, Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
// 暂时只显示车辆
if ( !isCarType( recognizedListResult.type ) ) {
@@ -139,17 +155,32 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
// final long start = System.currentTimeMillis();
// double[] matchedPoint = matchRoad( recognizedListResult.lon,
// recognizedListResult.lat,
// recognizedListResult.heading,
// recognizedListResult.dataAccuracy == 1
// );
// Log.i( "match-road-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
// if ( matchedPoint != null ) {
// recognizedListResult.lon = matchedPoint[0];
// recognizedListResult.lat = matchedPoint[1];
// }
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.lon,
recognizedListResult.lat,
recognizedListResult.heading,
true
);
Boolean isMatch = isMatchStatusCache.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;
}
isMatchStatusCache.put( uniqueKey, isMatch );
if ( isMatch ) {
recognizedListResult.lon = matchedPoint[0];
recognizedListResult.lat = matchedPoint[1];
}
}
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
@@ -169,17 +200,19 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
endLatLon.setTime( recognizedListResult.satelliteTime );
PointData endPoint = new PointData();
endPoint.point = endLatLon;
endPoint.angle = (float)recognizedListResult.heading;
endPoint.marker = marker;
endPoint.angle = ( float ) recognizedListResult.heading;
PointData startPoint = new PointData();
startPoint.point = lastPoint;
startPoint.angle = (float)lastPosition.heading;
startPoint.marker = marker;
startPoint.angle = ( float ) lastPosition.heading;
List< PointData > points = interpolate( startPoint, endPoint, 30, interval );
Message msg = new Message();
SettingData obj = new SettingData();
obj.marker = marker;
obj.points = points;
msg.obj = obj;
msg.what = MSG_POINTS_SETTING;
pointSettingHandler.sendMessage( msg );
// marker.startSmoothInMs( points, interval );
// marker.addDynamicAnchorPosition( endLatLon, interval );

17
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -248,6 +248,7 @@ class BaseDrawer {
PointData pd = new PointData();
pd.point = new MogoLatLng( lat, lon );
pd.angle = ( float ) _angle;
pd.marker = start.marker;
arrayList.add( pd );
}
}
@@ -255,8 +256,24 @@ class BaseDrawer {
return arrayList;
}
/**
* marker 单个点移动的对象
*/
public static class PointData {
public MogoLatLng point;
public float angle;
public IMogoMarker marker;
public void move() {
marker.setRotateAngle( angle );
marker.setPosition( point.lat, point.lon );
}
}
/**
* marker 平滑移动的对象
*/
public static class SettingData {
public List< PointData > points;
}
}

8316
modules/mogo-module-service/src/main/assets/adas-loc.txt Normal file
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File diff suppressed because it is too large Load Diff

1
modules/mogo-module-service/src/main/assets/loc2.txt Normal file
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File diff suppressed because one or more lines are too long

42
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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@@ -560,6 +560,7 @@ public class MockIntentHandler implements IntentHandler {
// mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
// mLocationMockHandler.sendEmptyMessageDelayed( 21, 200 );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
// mLocationMockHandler.sendEmptyMessageDelayed( 5, 0L );
break;
}
}
@@ -613,18 +614,18 @@ public class MockIntentHandler implements IntentHandler {
}
br2 = null;
}
} else if( msg.what == 21 ) {
} else if ( msg.what == 21 ) {
try {
handleMockSnapshotIntent2();
} catch (Exception e) {
} catch ( Exception e ) {
try {
br4.close();
} catch (IOException ex) {
} catch ( IOException ex ) {
ex.printStackTrace();
}
}
}else if ( msg.what == 3 ) {
} else if ( msg.what == 3 ) {
try {
handleMockAdasIntent();
} catch ( Exception e ) {
@@ -635,6 +636,17 @@ public class MockIntentHandler implements IntentHandler {
}
br3 = null;
}
} else if ( msg.what == 5 ) {
try {
handleMockAdasLocIntent();
} catch ( Exception e ) {
try {
br5.close();
} catch ( IOException ex ) {
ex.printStackTrace();
}
br5 = null;
}
}
}
};
@@ -653,7 +665,7 @@ public class MockIntentHandler implements IntentHandler {
JSONObject jo = new JSONObject( line );
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
Log.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
mLocationMockHandler.sendEmptyMessageDelayed( 1, 100L );
mLocationMockHandler.sendEmptyMessageDelayed( 1, 50L );
return true;
}
@@ -703,7 +715,7 @@ public class MockIntentHandler implements IntentHandler {
return false;
}
// double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
cloudRoadData.setUuid("1_21");
cloudRoadData.setUuid( "1_21" );
// cloudRoadData.setLon( coor[0] );
// cloudRoadData.setLat( coor[1] );
allList.add( cloudRoadData );
@@ -743,4 +755,22 @@ public class MockIntentHandler implements IntentHandler {
return true;
}
private BufferedReader br5;
private boolean handleMockAdasLocIntent() throws Exception {
if ( br5 == null ) {
br5 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "adas-loc.txt" ) ) );
}
String line = br5.readLine();
if ( line == null ) {
throw new Exception( "end of file 3." );
}
MogoApisHandler.getInstance()
.getApis()
.getAdasControllerApi()
.mockAdasLoc( line );
mLocationMockHandler.sendEmptyMessageDelayed( 5, 50L );
return true;
}
}

2
services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
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@@ -174,4 +174,6 @@ public interface IMogoADASController extends IProvider {
* 结束自动驾驶
*/
void cancelAutopilot();
void mockAdasLoc(String json);
}

11
services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
View File

@@ -711,4 +711,15 @@ public class MogoADASController implements IMogoADASController {
e.printStackTrace();
}
}
@Override
public void mockAdasLoc( String json ) {
ADASCarStateInfo stateInf = GsonUtil.objectFromJson( json, ADASCarStateInfo.class );
if ( stateInf == null ) {
return;
}
if ( mMogoAdasCarDataCallback != null ) {
mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInf );
}
}
}