Merge branch 'dev2_aiSdk' of http://gitlab.zhidaoauto.com/ecos/yycp-service/Launcher into dev2_aiSdk

libraries/map-custom/build.gradle

@@ -67,7 +67,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.2.4'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.2.6'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }
 

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java

@@ -468,7 +468,7 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
             return;
         }
 
-        List< LonLatPoint > newPoints = new ArrayList<>();
+        ArrayList< LonLatPoint > newPoints = new ArrayList<>();
         for ( int i = 0; i < points.size(); i++ ) {
             LonLatPoint point = ObjectUtils.fromMogo( points.get( i ) );
             if ( point == null ) {
@@ -480,6 +480,35 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
             return;
         }
 
+
+//        MarkerTranslateAnimation animation = new MarkerTranslateAnimation( newPoints );
+//        animation.setDuration( duration );
+//        animation.setAnimationListener( new MarkerAnimationListener() {
+//            @Override
+//            public void onAnimationStart( @NotNull Animation animation ) {
+//
+//            }
+//
+//            @Override
+//            public void onAnimationEnd( @NotNull Animation animation ) {
+//
+//            }
+//
+//            long lastTime = 0L;
+//
+//            @Override
+//            public void onAnimationRepeat( @NotNull Animation animation ) {
+//                if ( lastTime == 0L ) {
+//                    lastTime = System.currentTimeMillis();
+//                    return;
+//                }
+//                Logger.d( TAG, "frame cost = %s", System.currentTimeMillis() - lastTime );
+//                lastTime = System.currentTimeMillis();
+//            }
+//        } );
+//        mMarker.setTranslateAnimation( animation );
+//        mMarker.startAnimation();
+
         mMarker.startSmooth( newPoints, ( int ) duration );
 //        mMarker.addDynamicAnchorPostion( newPoints.get( newPoints.size() - 1 ), ( int ) duration );
     }

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java

@@ -17,35 +17,6 @@ public class PointInterpolatorUtil {
     private static final String TAG = "PointInterpolatorUtil";
     private static final int DISTANCE_THRESHOLD = 2;
 
-    /**
-     * 在两点之间插值
-     *
-     * @param start
-     * @param end
-     * @param frameInterval
-     * @return
-     */
-    public static List< MogoLatLng > interpolate( MogoLatLng start, MogoLatLng end, long frameInterval ) {
-        if ( start == null || end == null ) {
-            return null;
-        }
-        long locInterval = end.time - start.time;
-        int interpolateFrame = ( int ) ( locInterval / frameInterval ) - 1;
-        List< MogoLatLng > arrayList = new ArrayList<>();
-        arrayList.add( start );
-        if ( interpolateFrame > 0 ) {
-            double lonStep = ( end.lon - start.lon ) / ( interpolateFrame + 1 );
-            double latStep = ( end.lat - start.lat ) / ( interpolateFrame + 1 );
-            for ( int i = 0; i < interpolateFrame; i++ ) {
-                double lon = start.lon + lonStep * ( i + 1 );
-                double lat = start.lat + latStep * ( i + 1 );
-                arrayList.add( new MogoLatLng( lon, lat ) );
-            }
-        }
-        arrayList.add( end );
-        return arrayList;
-    }
-
     /**
      * 在(x1,y1) (x2,y2)中间插入一些点，使每两个点之间距离<={@link #DISTANCE_THRESHOLD}，利用如下公式进行计算
      * xn = x1 + (x2 - x1)*n/a

libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java

@@ -17,7 +17,6 @@ public class MogoLatLng implements Parcelable {
     @Deprecated
     public final double lng;
     public final double lon;
-    public long time;
 
     public MogoLatLng( double lat, double lon ) {
         this.lat = lat;
@@ -43,14 +42,6 @@ public class MogoLatLng implements Parcelable {
         return lon;
     }
 
-    public long getTime() {
-        return time;
-    }
-
-    public void setTime( long time ) {
-        this.time = time;
-    }
-
     @Override
     public boolean equals( Object o ) {
         if ( this == o ) return true;
@@ -83,14 +74,12 @@ public class MogoLatLng implements Parcelable {
         dest.writeDouble( this.lat );
         dest.writeDouble( this.lng );
         dest.writeDouble( this.lon );
-        dest.writeLong( this.time );
     }
 
     protected MogoLatLng( Parcel in ) {
         this.lat = in.readDouble();
         this.lng = in.readDouble();
         this.lon = in.readDouble();
-        this.time = in.readLong();
     }
 
     public static final Creator< MogoLatLng > CREATOR = new Creator< MogoLatLng >() {

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

@@ -1,6 +1,7 @@
 package com.mogo.module.common.drawer;
 
 import android.content.Context;
+import android.graphics.BitmapFactory;
 import android.os.Handler;
 import android.os.Message;
 import android.text.TextUtils;
@@ -60,7 +61,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                     }
                 } else if ( msg.what == MSG_SET_POINT ) {
                     if ( msg.obj instanceof MovingPoint ) {
-                        moveMarker( ( ( MovingPoint ) msg.obj ) );
+                        moveMarker( ( ( MovingPoint ) msg.obj ), msg.arg1 );
                     }
                 } else if ( msg.what == MSG_SET_SPEED ) {
                     if ( msg.obj instanceof SpeedData ) {
@@ -82,6 +83,11 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
             Message msg = Message.obtain();
             msg.what = MSG_SET_POINT;
             msg.obj = points.get( i );
+            if ( i == 0 || i == points.size() - 1 ) {
+                msg.arg1 = R.drawable.sr;
+            } else {
+                msg.arg1 = R.drawable.sy;
+            }
             mPointSettingHandler.sendMessageDelayed( msg, points.get( i ).delay );
         }
     }
@@ -91,7 +97,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      *
      * @param pointData
      */
-    private void moveMarker( MovingPoint pointData ) {
+    private void moveMarker( MovingPoint pointData, int drId ) {
         if ( pointData == null ) {
             return;
         }
@@ -215,34 +221,29 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         }
         newAdasRecognizedMarkersCaches.put( uniqueKey, marker );
         if ( lastPosition != null ) {
-            MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
             long interval = computeAnimDuration( lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime );
 
-            long cost = System.currentTimeMillis() - start;
-            interval -= cost;
-            MogoLatLng lastPoint = new MogoLatLng( lastPosition.lat, lastPosition.lon );
-            lastPoint.setTime( lastPosition.satelliteTime );
-            endLatLon.setTime( recognizedListResult.satelliteTime );
-            MovingPoint endPoint = new MovingPoint();
-            endPoint.point = endLatLon;
-            endPoint.marker = marker;
-            endPoint.delay = interval;
-            endPoint.angle = ( float ) recognizedListResult.heading;
-
             MovingPoint startPoint = new MovingPoint();
-            startPoint.point = lastPoint;
+            startPoint.point = new MogoLatLng( lastPosition.lat, lastPosition.lon );
             startPoint.marker = marker;
             startPoint.delay = 0L;
             startPoint.angle = ( float ) lastPosition.heading;
-            List< MovingPoint > points = interpolate( startPoint, endPoint, 30, interval );
+
+            long cost = System.currentTimeMillis() - start;
+            MovingPoint endPoint = new MovingPoint();
+            endPoint.point = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
+            endPoint.marker = marker;
+            endPoint.angle = ( float ) recognizedListResult.heading;
+            interval -= cost;
+            endPoint.delay = interval;
+
+            List< MovingPoint > points = interpolate( startPoint, endPoint,  interval );
             Message msg = new Message();
             MovingPoints obj = new MovingPoints();
             obj.points = points;
             msg.obj = obj;
             msg.what = MSG_POINTS_SETTING;
             mPointSettingHandler.sendMessage( msg );
-//            marker.startSmoothInMs( points, interval );
-//            marker.addDynamicAnchorPosition( endLatLon, interval );
             Logger.d( TAG, "anim duration: %s, points size = %s", interval, points.size() );
         } else {
             marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );

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

@@ -38,6 +38,11 @@ class BaseDrawer {
     public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
     public static final int MSG_REMOVE_ADAS_MARKERS = 9992;
 
+    /**
+     * 地图刷新频率
+     */
+    public static final int MAP_RENDER_FRAME_FREQUENCY = 25;
+
     /**
      * 地图内部资源md5缓存，便于资源复用
      */
@@ -234,20 +239,26 @@ class BaseDrawer {
      *
      * @param start
      * @param end
-     * @param frameInterval
      * @return
      */
-    public static List< MovingPoint > interpolate( MovingPoint start, MovingPoint end, long frameInterval, long duration ) {
+    public static List< MovingPoint > interpolate( MovingPoint start, MovingPoint end, long duration ) {
         if ( start == null || end == null ) {
             return null;
         }
-        int interpolateFrame = ( int ) ( duration / frameInterval ) - 1;
+
+        int interpolateFrame = ( int ) ( duration / MAP_RENDER_FRAME_FREQUENCY );
+        if ( duration % MAP_RENDER_FRAME_FREQUENCY < MAP_RENDER_FRAME_FREQUENCY / 2 ) {
+            interpolateFrame -= 1;
+        }
+//        if ( interpolateFrame == 0 ) {
+//            interpolateFrame = 1;
+//        }
         List< MovingPoint > arrayList = new ArrayList<>();
         double _angle = ( end.angle + start.angle ) / 2;
         if ( Math.abs( end.angle - start.angle ) > 5 ) {
             _angle = Math.atan2( Math.abs( start.point.lon - end.point.lon ), Math.abs( start.point.lat - end.point.lat ) ) * ( 180 / PI );
         }
-        arrayList.add( start );
+//        arrayList.add( start );
         if ( interpolateFrame > 0 ) {
             double lonStep = ( end.point.lon - start.point.lon ) / ( interpolateFrame + 1 );
             double latStep = ( end.point.lat - start.point.lat ) / ( interpolateFrame + 1 );
@@ -256,7 +267,7 @@ class BaseDrawer {
                 double lat = start.point.lat + latStep * ( i + 1 );
                 MovingPoint pd = new MovingPoint();
                 pd.point = new MogoLatLng( lat, lon );
-                pd.delay = ( i + 1 ) * frameInterval;
+                pd.delay = ( i + i ) * MAP_RENDER_FRAME_FREQUENCY;
                 pd.angle = ( float ) _angle;
                 pd.marker = start.marker;
                 arrayList.add( pd );

modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java

@@ -4,6 +4,7 @@ import android.os.Handler;
 import android.os.HandlerThread;
 import android.os.Looper;
 import android.os.Message;
+import android.os.SystemClock;
 import android.text.TextUtils;
 import android.util.ArrayMap;
 
@@ -66,7 +67,23 @@ public class SimpleHandlerThreadPool {
             Message msg = Message.obtain();
             msg.what = MSG_SET_POINT;
             msg.obj = points.get( i );
-            renderHandler.sendMessageDelayed( msg, ( i + 1 ) * 10 );
+            renderHandler.sendMessageDelayed( msg, points.get(i).delay );
+        }
+    }
+
+    private long startMove = 0;
+    private int lastIndex = 0;
+
+    private void slowTest(){
+        if (startMove == 0) {
+            startMove = SystemClock.uptimeMillis();
+        } else {
+            long diff = SystemClock.uptimeMillis() - startMove;
+            int index = (int) (diff / 30);
+            if (index - lastIndex > 1) {
+                Logger.e("MapRenderSlow", "miss " + (index - lastIndex) + "  diff: " + diff);
+            }
+            lastIndex = index;
         }
     }
 
@@ -75,10 +92,11 @@ public class SimpleHandlerThreadPool {
      *
      * @param pointData
      */
-    private void moveMarker( BaseDrawer.MovingPoint pointData ) {
-        if ( pointData == null ) {
+    private void moveMarker(BaseDrawer.MovingPoint pointData) {
+        if (pointData == null) {
             return;
         }
+//        slowTest();
         pointData.move();
     }
 
@@ -175,6 +193,8 @@ public class SimpleHandlerThreadPool {
                 return;
             }
 
+            final long start = System.currentTimeMillis();
+
             IMogoMarker marker = markerCache.get( uniqueKey );
             CloudRoadData lastPosition = roadDataCache.put( uniqueKey, cloudRoadData );
             if ( marker == null || marker.isDestroyed() ) {
@@ -217,25 +237,28 @@ public class SimpleHandlerThreadPool {
 
             SnapshotSetDataDrawer.getInstance().changeIconResourceIfNecessary( cloudRoadData, marker );
 
-//            final IMogoMarker finalMarker = marker;
+            final IMogoMarker finalMarker = marker;
             Logger.d( TAG, "work in " + Thread.currentThread().getName() );
 
             if ( lastPosition != null ) {
                 MogoLatLng endLatLon = new MogoLatLng( cloudRoadData.getWgslat(),cloudRoadData.getWgslon() );
                 long interval = SnapshotSetDataDrawer.getInstance().computeAnimDuration( lastPosition.getSystemTime(), cloudRoadData.getSystemTime(), lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime() );
+
+                long cost = System.currentTimeMillis() - start;
+                interval -= cost;
                 MogoLatLng lastPoint = new MogoLatLng( lastPosition.getWgslat(), lastPosition.getWgslon() );
-                lastPoint.setTime( lastPosition.getSatelliteTime() );
-                endLatLon.setTime( cloudRoadData.getSatelliteTime() );
                 BaseDrawer.MovingPoint endPoint = new BaseDrawer.MovingPoint();
                 endPoint.point = endLatLon;
                 endPoint.marker = marker;
+                endPoint.delay = interval;
                 endPoint.angle = ( float ) cloudRoadData.getHeading();
 
                 BaseDrawer.MovingPoint startPoint = new BaseDrawer.MovingPoint();
                 startPoint.point = lastPoint;
                 startPoint.marker = marker;
+                startPoint.delay = 0;
                 startPoint.angle = ( float ) lastPosition.getHeading();
-                List< BaseDrawer.MovingPoint > points = BaseDrawer.interpolate( startPoint, endPoint, 20, interval );
+                List< BaseDrawer.MovingPoint > points = BaseDrawer.interpolate( startPoint, endPoint,  interval );
                 Message msg = new Message();
                 BaseDrawer.MovingPoints obj = new BaseDrawer.MovingPoints();
                 obj.points = points;
@@ -260,6 +283,7 @@ public class SimpleHandlerThreadPool {
 //                // 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 = SystemClock.uptimeMillis() - lastExecutionTimeCache.get( uniqueKey );
+//                    interval = cloudRoadData.getSystemTime() - lastPosition.getSystemTime();
 //                    finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ), interval );
 //                    Logger.d( TAG, "anim duration: %s  in thread: %s", interval, Thread.currentThread().getName() );
 //                } else {

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java

@@ -28,11 +28,14 @@ import com.mogo.map.search.geo.MogoGeocodeResult;
 import com.mogo.map.search.geo.MogoRegeocodeResult;
 import com.mogo.map.search.geo.query.MogoRegeocodeQuery;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.dialog.WMDialog;
 import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
 import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.R;
+import com.mogo.module.service.uploadintime.SnapshotLocationController;
+import com.mogo.realtime.core.SnapshotUploadInTime;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.realtime.entity.CloudRoadData;
 import com.mogo.realtime.entity.MogoSnapshotSetData;
@@ -556,12 +559,29 @@ public class MockIntentHandler implements IntentHandler {
                 SnapshotSetDataDrawer.getInstance().renderSnapshotData( GsonUtil.objectFromJson( json, MogoSnapshotSetData.class ) );
                 break;
             case 47:
-                mLocationMockHandler.sendEmptyMessageDelayed( 1, 200L );
-//                mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
+                mLocationMockHandler.sendEmptyMessageDelayed( 1, 8200L );
+                mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
 //                mLocationMockHandler.sendEmptyMessageDelayed( 21, 200 );
-                mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
+//                mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
 //                mLocationMockHandler.sendEmptyMessageDelayed( 5, 0L );
                 break;
+            case 48:
+                MogoMarkerOptions options = new MogoMarkerOptions()
+                        .owner( DataTypes.TYPE_MARKER_ADAS )
+                        .anchor( 0.5f, 0.5f )
+                        .set3DMode( true )
+                        .position( new MogoLatLng( 39.981971055705,116.41150648393 ) )
+                        .gps( true )
+                        .controlAngle( true )
+                        .icon3DRes( R.raw.cargrey )
+                        .rotate( ( float ) 358.526123 );
+                IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
+                List<MogoLatLng> latLngs = new ArrayList<>(  );
+                latLngs.add(  new MogoLatLng( 39.981971055705,116.41150648393 ) );
+                latLngs.add(  new MogoLatLng( 39.981990561932,116.412893641626 ) );
+                marker.startSmoothInMs(latLngs, 20_000L );
+                break;
+
         }
     }
 
@@ -647,6 +667,17 @@ public class MockIntentHandler implements IntentHandler {
                     }
                     br5 = null;
                 }
+            } else if ( msg.what == 48 ) {
+                try {
+                    handleMockLocationIntent48();
+                } catch ( Exception e ) {
+                    try {
+                        br48.close();
+                    } catch ( IOException ex ) {
+                        ex.printStackTrace();
+                    }
+                    br48 = null;
+                }
             }
         }
     };
@@ -664,16 +695,38 @@ public class MockIntentHandler implements IntentHandler {
         }
         JSONObject jo = new JSONObject( line );
         MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
+        SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
         Log.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
         mLocationMockHandler.sendEmptyMessageDelayed( 1, 100L );
         return true;
     }
 
+    private BufferedReader br48;
+    int count = 0;
+
+    private boolean handleMockLocationIntent48() throws Exception {
+        if ( br48 == null ) {
+            br48 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc3.txt" ) ) );
+        }
+        final long start = System.currentTimeMillis();
+        String line = br48.readLine();
+        if ( line == null ) {
+            throw new Exception( "end of file." );
+        }
+        JSONObject jo = new JSONObject( line );
+        MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
+        Logger.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms: count=%s", ++count  );
+        mLocationMockHandler.sendEmptyMessageDelayed( 48, 100L );
+        return true;
+    }
+
     private BufferedReader br2;
 
+    private long last = 0;
+
     private boolean handleMockSnapshotIntent() throws Exception {
         if ( br2 == null ) {
-            br2 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "snapshot.txt" ) ) );
+            br2 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "snapshot2.txt" ) ) );
         }
         String line = br2.readLine();
         if ( line == null ) {
@@ -688,15 +741,20 @@ public class MockIntentHandler implements IntentHandler {
 //        double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
 //        cloudRoadData.setLon( coor[0] );
 //        cloudRoadData.setLat( coor[1] );
-        cloudRoadData.setWgslat(cloudRoadData.getLat());
-        cloudRoadData.setWgslon(cloudRoadData.getLon());
+        cloudRoadData.setWgslat( cloudRoadData.getLat() );
+        cloudRoadData.setWgslon( cloudRoadData.getLon() );
         allList.add( cloudRoadData );
         data.setAllList( allList );
 
         final long start = System.currentTimeMillis();
         SnapshotSetDataDrawer.getInstance().renderSnapshotData( data );
         Log.i( "mock-timer-snapshot", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
-        mLocationMockHandler.sendEmptyMessageDelayed( 2, 100L );
+        long delay = 100;
+        if (last != 0){
+            delay = cloudRoadData.getSystemTime() - last;
+        }
+        last = cloudRoadData.getSystemTime();
+        mLocationMockHandler.sendEmptyMessageDelayed( 2, delay );
         return true;
     }