From 79638fac6fdbb4c2c4e1a4c7578d9fd28be37564 Mon Sep 17 00:00:00 2001 From: wangcongtao Date: Mon, 8 Mar 2021 10:10:22 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E6=98=BE=E7=A4=BA=E9=80=BB?= =?UTF-8?q?=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- libraries/map-custom/build.gradle | 2 +- .../drawer/AdasRecognizedResultDrawer.java | 113 +- .../mogo/module/common/drawer/BaseDrawer.java | 17 + .../src/main/assets/adas-loc.txt | 8316 +++++++++++++++++ .../src/main/assets/loc2.txt | 1 + .../service/intent/MockIntentHandler.java | 42 +- .../service/adas/IMogoADASController.java | 2 + .../service/impl/adas/MogoADASController.java | 11 + 8 files changed, 8457 insertions(+), 47 deletions(-) create mode 100644 modules/mogo-module-service/src/main/assets/adas-loc.txt create mode 100644 modules/mogo-module-service/src/main/assets/loc2.txt diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle index 6188804203..b4963e4114 100644 --- a/libraries/map-custom/build.gradle +++ b/libraries/map-custom/build.gradle @@ -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' } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index fc3a195ded..476074c453 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -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 ); diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java index d25742d92a..16fe1e7a4f 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java @@ -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; } } diff --git a/modules/mogo-module-service/src/main/assets/adas-loc.txt 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{"systemTime":1614938595920,"satelliteTime":1614938595920,"lon":116.414378612527,"lat":39.980150542406,"alt":34.42907333,"heading":180.2581531,"speed":11.6266} {"systemTime":1614938595970,"satelliteTime":1614938595970,"lon":116.414378868103,"lat":39.980145304264,"alt":34.43068695,"heading":180.2691088,"speed":11.63537} {"systemTime":1614938596022,"satelliteTime":1614938596022,"lon":116.414379119071,"lat":39.980140063269,"alt":34.43188858,"heading":180.290419,"speed":11.635186} \ No newline at end of file diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java index 3affe20f28..98cfd6b5ba 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -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; + } + } diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java index 53178cf254..573302ecc5 100644 --- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java +++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java @@ -174,4 +174,6 @@ public interface IMogoADASController extends IProvider { * 结束自动驾驶 */ void cancelAutopilot(); + + void mockAdasLoc(String json); } diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java index 22f3bd7caa..952a0e198c 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java @@ -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 ); + } + } }