From 924a92c2c47d992e17c9404e99f181b592605bff Mon Sep 17 00:00:00 2001
From: zhongchao <zhongchao@zhidaoauto.com>
Date: Sat, 2 Jul 2022 22:00:03 +0800
Subject: [PATCH] fix bug

---
 .../map/identify/IdentifyOriginDataDrawer.kt  | 38 ++++++++++++-------
 .../function/map/identify/PlanningTrack.kt    |  4 ++
 2 files changed, 28 insertions(+), 14 deletions(-)
 create mode 100644 core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/PlanningTrack.kt

diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
index 142c21feed..0eb10091c1 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -52,7 +52,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
     /**
      * planning 感知物预警缓存，用于重置color状态
      */
-    private val colorTrafficData = ConcurrentHashMap<String, String>()
+    private val colorTrafficData = ConcurrentHashMap<String, PlanningTrack>()
 
     @SuppressLint("NewApi")
     override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
@@ -62,20 +62,18 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
             if (planningObjects == null) {
                 return
             }
-            val tempTrafficData = ArrayList<TrackedObject>()
             planningObjects.forEach { planningObj ->
                 val trackId = planningObj.uuid.toString()
-                if(mMarkersCaches.containsKey(trackId)){
+                if (mMarkersCaches.containsKey(trackId)) {
                     val trackObj = mMarkersCaches[trackId]
                     trackObj?.let {
-                        colorTrafficData[trackId] = "#FFBCB239"
-                        val temp = it.toBuilder().setColor("#FFBCB239").build()
-                        tempTrafficData.add(temp)
+                        colorTrafficData[trackId] = PlanningTrack(
+                            "#FFBCB239",
+                            CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
+                        )
                     }
                 }
             }
-            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .updateBatchMarkerPosition(tempTrafficData)
         }
     }
 
@@ -138,22 +136,28 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
             if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) {
                 continue
             }
-            var temp:TrackedObject = data
+            var temp: TrackedObject = data
             val uuid = "" + data.uuid
             //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)
+                    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)) {
+                        temp = data.toBuilder().setColor(planningTrack.color).build()
+                    } else {
+                        colorTrafficData.remove(uuid)
+                    }
+                }
+                mFilterTrafficData.add(temp)
             }
             mMarkersCaches[uuid] = temp
             trafficDataUuidList.add(uuid)
-            if(colorTrafficData.containsKey(uuid)){
-                continue
-            }
-            mFilterTrafficData.add(temp)
         }
         return mFilterTrafficData
     }
@@ -173,4 +177,10 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
         mAutopilotStatus = autoPilotStatusInfo.state
     }
 
+    private fun timeOut(time: Double): Boolean {
+        val duration =
+            (CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime() * 1000).toLong() - (time * 1000).toLong()
+        return duration >= 1000
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/PlanningTrack.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/PlanningTrack.kt
new file mode 100644
index 0000000000..c6b4c2ce6c
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/PlanningTrack.kt
@@ -0,0 +1,4 @@
+package com.mogo.eagle.core.function.map.identify
+
+data class PlanningTrack(var color: String, var time: Double) {
+}
\ No newline at end of file