完成识别元素绘制逻辑替换

Signed-off-by: 董宏宇 <martindhy@gmail.com>
2021-10-19 15:14:52 +08:00
parent de0a9c0c0b
commit 8d784b4014
8 changed files with 275 additions and 25 deletions
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -13,6 +13,7 @@
      <map>
        <entry key="../../../../../../layout/custom_preview.xml" value="0.390625" />
        <entry key="../../../../../layout/custom_preview.xml" value="0.19947916666666668" />
+        <entry key="OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml" value="0.24010416666666667" />
        <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml" value="0.33" />
        <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_autopilot_status.xml" value="0.25833333333333336" />
        <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_check_status.xml" value="1.0" />
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -173,7 +173,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
     * 识别交通元素数据发生更新 回调
     */
    @Synchronized
-    fun invokeIdentifyDataUpdate(trafficData: List<TrafficData>?) {
+    fun invokeAutopilotIdentifyDataUpdate(trafficData: List<TrafficData>?) {
        LogUtils.dTag(TAG, "$trafficData")
        M_AUTOPILOT_STATUS_LISTENERS.forEach {
            val tag = it.key
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -1,9 +1,12 @@
 package com.mogo.module.adas;

+import android.util.Log;
+
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

 import com.google.gson.Gson;
+import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
@@ -14,6 +17,8 @@ import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.adas.model.AdasServiceModel;
+import com.mogo.module.common.drawer.IdentifyDataDrawer;
+import com.mogo.service.statusmanager.IMogoStatusManager;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
@@ -234,6 +239,18 @@ public class AdasEventManager implements OnAdasMsgConnectStatusListener, IMoGoAu
    @Override
    public void onAutopilotIdentifyDataUpdate(@Nullable List<TrafficData> trafficData) {
        Logger.d(TAG, "onRectData " + trafficData);
+        // 仅在 vr 模式下显示 adas 识别车辆
+        if (trafficData == null) {
+            Logger.w(TAG, "--->action is null");
+        } else {
+            final long start = System.nanoTime();
+            try {
+                IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData);
+                Log.i(TAG, "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
        try {
            for (IAdasDataListener listener : iAdasEventListeners) {
                if (listener != null) {
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java
@@ -37,7 +37,7 @@ public class OnAdasListenerAdapter implements OnAdasListener {
    @Override
    public void onRectData(RectInfo rectInfo) {
        List<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
-        CallerAutoPilotStatusListenerManager.INSTANCE.invokeIdentifyDataUpdate(recognizedListResults);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
    }

    @Override
--- 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
@@ -31,7 +31,7 @@ import java.util.concurrent.TimeUnit;
 */
 public class AdasRecognizedResultDrawer extends BaseDrawer {

-    private static final String TAG = "RecognizedResultDrawer";
+    private static final String TAG = "AdasRecognizedResultDrawer";

    private static volatile AdasRecognizedResultDrawer sInstance;

--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/IdentifyDataDrawer.java
@@ -0,0 +1,252 @@
+package com.mogo.module.common.drawer;
+
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
+
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.mogo.commons.debug.DebugConfig;
+import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.map.marker.IMogoMarker;
+import com.mogo.map.marker.MogoMarkerOptions;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.constants.DataTypes;
+
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/19 10:45 上午
+ * 域控制器识别信息绘制
+ */
+public class IdentifyDataDrawer extends BaseDrawer {
+
+    private static final String TAG = "IdentifyDataDrawer";
+
+    private static volatile IdentifyDataDrawer sInstance;
+
+    /**
+     * 上一帧数据的缓存
+     */
+    private static Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
+
+    public IdentifyDataDrawer() {
+        super();
+    }
+
+    private final Map<String, TrafficData> mLastPositions = new ConcurrentHashMap<>();
+
+    public static IdentifyDataDrawer getInstance() {
+        if (sInstance == null) {
+            synchronized (IdentifyDataDrawer.class) {
+                if (sInstance == null) {
+                    sInstance = new IdentifyDataDrawer();
+                }
+            }
+        }
+        return sInstance;
+    }
+
+    public synchronized void release() {
+        sInstance = null;
+    }
+
+    /**
+     * 渲染 adas 识别的数据
+     *
+     * @param resultList adas感知融合数据
+     */
+    public void renderAdasRecognizedResult(List<TrafficData> resultList) {
+
+        final long start = System.nanoTime();
+        if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
+            clearOldMarker();
+            Log.w("ADAS数据延时绘制", "resultList==>" + resultList + "  DebugConfig.isUseAdasRecognize()==>" + DebugConfig.isUseAdasRecognize());
+            return;
+        }
+
+        if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+            clearOldMarker();
+            Log.w("ADAS数据延时绘制", "当前不是VR模式");
+            return;
+        }
+
+
+        Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
+        List<TrafficData> newDiffSet = new ArrayList<>();
+        for (TrafficData recognizedListResult : resultList) {
+
+            if (isUselessValue(recognizedListResult)) {
+                continue;
+            }
+            // 复用之前存在的 marker
+            String uniqueKey = recognizedListResult.getUuid();
+            IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
+            if (marker != null && !marker.isDestroyed()) {
+//                Log.d(TAG, "发现缓存marker id : " + uniqueKey);
+                updateCacheMarkerRes(marker, recognizedListResult);
+                renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
+            } else {
+                // 新增添加进差集
+                newDiffSet.add(recognizedListResult);
+            }
+        }
+        removeUselessMarker(mMarkersCaches);
+        removeUselessLastRecord();
+        int newDiffSetSize = newDiffSet.size();
+//        Log.d(TAG, "原数据量 ： " + resultList.size() + "  新增marker数量 ： " + newDiffSetSize);
+        // 复用过期 marker
+        if (newDiffSetSize > 0) {
+            for (int i = 0; i < newDiffSetSize; i++) {
+                TrafficData recognizedListResult = newDiffSet.get(i);
+                String uniqueKey = recognizedListResult.getUuid();
+                IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
+                if (marker == null) {
+                    continue;
+                }
+//                Log.d(TAG, "新增marker id : " + uniqueKey);
+                renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
+            }
+        }
+        sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
+        mMarkersCaches.clear();
+        mMarkersCaches = newAdasRecognizedMarkersCaches;
+        Log.d("ADAS数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
+    }
+
+    /**
+     * todo 后面涉及到此类变化的数据均改动
+     *
+     * @param marker
+     * @param recognizedListResult
+     */
+    private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
+        String resIdVal;
+        int resId = getModelRes(recognizedListResult.getType().getType());
+        resIdVal = resId + "";
+        String resName = mMarkerCachesResMd5Values.get(resIdVal);
+        if (!TextUtils.isEmpty(resName)) {
+            if (!TextUtils.equals(resName, marker.getMarkerResName())) {
+                marker.use3DResource(resName);
+            }
+        } else {
+            resName = marker.use3DResource(resId);
+            mMarkerCachesResMd5Values.put(resIdVal, resName);
+        }
+    }
+
+    private void removeUselessLastRecord() {  // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
+        if (mLastPositions.isEmpty()) {
+            return;
+        }
+        Iterator<TrafficData> iterator = mLastPositions.values().iterator();
+        Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
+        while (iterator.hasNext()) {
+            TrafficData result = iterator.next();
+            long internal = result.getSatelliteTime() - getCurSatelliteTime();
+            if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
+                iterator.remove();
+            }
+        }
+    }
+
+    /**
+     * 过滤无用数据
+     *
+     * @param recognizedListResult {@link TrafficData}
+     * @return useless
+     */
+    private boolean isUselessValue(TrafficData recognizedListResult) {
+        if (recognizedListResult == null) {
+            return true;
+        }
+        if (nonRenderType(recognizedListResult.getType().getType())) {
+            return true;
+        }
+        String uniqueKey = recognizedListResult.getUuid();
+        return TextUtils.isEmpty(uniqueKey);
+    }
+
+    /**
+     * 绘制某个物体的一个数据
+     *
+     * @param recognizedListResult           {@link TrafficData}
+     * @param newAdasRecognizedMarkersCaches 缓存集合
+     */
+    private void renderAdasOneFrame(IMogoMarker marker,
+                                    String uniqueKey,
+                                    TrafficData recognizedListResult,
+                                    Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
+        final long start = System.nanoTime();
+//        Log.d(TAG, "renderAdasOneFrame uuid :  " + uniqueKey + "  type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
+        TrafficData lastPosition = mLastPositions.remove(uniqueKey);
+
+        mLastPositions.put(uniqueKey, recognizedListResult);
+//        Log.d(TAG, "使用缓存 id : " + uniqueKey);
+        long interval = 45;
+        if (lastPosition != null) {
+            interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
+        }
+        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
+        long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
+        Log.d("ADAS动画数据", "cost : " + cost);
+        final long intervalRef = interval - cost;
+        Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.getUuid());
+        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
+        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
+        marker.setAnchorColor(carColor);
+
+        newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
+        Log.d("ADAS数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
+    }
+
+    /**
+     * 绘制 marker
+     *
+     * @param recognizedListResult {@link TrafficData}
+     * @return {@link IMogoMarker}
+     */
+    private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
+        long start = System.nanoTime();
+        if (recognizedListResult == null) {
+            return null;
+        }
+
+        int resId = getModelRes(recognizedListResult.getType().getType());
+        String resIdVal = resId + "";
+
+        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
+        MogoMarkerOptions options = new MogoMarkerOptions()
+                .owner(DataTypes.TYPE_MARKER_ADAS)
+                .anchor(0.5f, 0.5f)
+                .set3DMode(true)
+                .gps(true)
+                .anchorColor(carColor)
+                .controlAngle(true)
+                .resName(mMarkerCachesResMd5Values.get(resIdVal))
+                .icon3DRes(resId)
+                .rotate((float) recognizedListResult.getHeading())
+                .position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
+        IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
+        cacheMarkerIconResMd5Val(resIdVal, marker);
+        Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
+        return marker;
+    }
+
+    /**
+     * 清除旧的 marker 数据
+     */
+    public void clearOldMarker() {
+        if (mMarkersCaches != null) {
+            mMarkersCaches.clear();
+        }
+        mLastPositions.clear();
+        sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
+    }
+}
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
@@ -17,6 +17,7 @@ import com.mogo.module.common.ModuleNames;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.api.CallChatApi;
 import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
+import com.mogo.module.common.drawer.IdentifyDataDrawer;
 import com.mogo.module.common.drawer.MarkerDrawer;
 import com.mogo.module.common.drawer.OnlineCarDrawer;
 import com.mogo.module.common.drawer.RoadConditionDrawer;
@@ -184,7 +185,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
            // 使用与渠道配置一样的gps提供者提供的数据 修改fPadLenovo.gradle文件中的GPS_PROVIDER字段控制渲染来源
            Logger.d(TAG, "result.addAdasRecognizedDataCallback == 3 ------> ");
            if (FunctionBuildConfig.gpsProvider != 2) {
-                AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList);
+                IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(resultList);
            }

            //添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，
--- 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
@@ -237,27 +237,6 @@ public class MogoADASController implements IMogoADASController {

                @Override
                public void onRectData(List<TrafficData> trafficData) {
-                    // 仅在 vr 模式下显示 adas 识别车辆
-                    if (!SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
-                        return;
-                    }
-                    if (!SingletonsHolder.get(IMogoStatusManager.class).isMainPageLaunched()) {
-                        return;
-                    }
-                    if (trafficData == null) {
-                        Logger.w(TAG, "--->action is null");
-                        return;
-                    }
-                    final long start = System.nanoTime();
-                    try {
-                        Message message = mAdasRecognizedRecHandler.obtainMessage();
-                        message.obj = trafficData;
-                        message.sendToTarget();
-                        Log.i("ADAS数据延时", "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                    DebugConfig.setStatus(DebugConfig.sAdasRecognized, true);
                }

                @Override