trafficData) {
try {
- if (trafficData == null) {
- IdentifyDataDrawer.getInstance().clearOldMarker();
- } else {
- if (FunctionBuildConfig.isDrawIdentifyData) {
- ThreadUtils.getSinglePool().execute(() ->
- IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
- );
- } else {
- IdentifyDataDrawer.getInstance().clearOldMarker();
- }
+ if (FunctionBuildConfig.isDrawIdentifyData) {
+ ThreadUtils.getSinglePool().execute(() ->
+ IdentifyDataDrawer.getInstance().renderAdasRecognizedResult(trafficData)
+ );
}
} catch (Exception e) {
e.printStackTrace();
- IdentifyDataDrawer.getInstance().clearOldMarker();
}
}
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 c9ba764b07..b60fdd712c 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
@@ -1,35 +1,27 @@
package com.mogo.module.common.drawer;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
-import static java.lang.Math.PI;
import android.content.Context;
import android.graphics.Color;
import android.graphics.Typeface;
-import android.os.Handler;
-import android.os.Message;
import android.text.TextUtils;
-import android.util.Log;
import android.view.ViewGroup;
import android.widget.TextView;
import com.mogo.commons.AbsMogoApplication;
-import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.constants.AdasRecognizedType;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
-import com.mogo.module.common.drawer.bean.SpeedData;
import java.util.Collection;
import java.util.Iterator;
import java.util.Map;
-import java.util.Random;
-import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
-/*
+/**
* @author congtaowang
* @since 2020/10/30
*
@@ -42,21 +34,6 @@ public class BaseDrawer {
*/
public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
- /**
- * 地图刷新频率
- */
- public static final int MAP_RENDER_FRAME_FREQUENCY = 30;
-
- /**
- * 显示速度
- */
- public static final int MSG_DISPLAY_SPEED = 11;
-
- /**
- * 移动点的时间间隔
- */
- public static final int MAP_MARKER_MOVE_INTERVAL = MAP_RENDER_FRAME_FREQUENCY;
-
/**
* 地图内部资源md5缓存，便于资源复用
*/
@@ -64,77 +41,8 @@ public class BaseDrawer {
protected final Context mContext;
- private static TextView mSpeedView;
-
public BaseDrawer() {
mContext = AbsMogoApplication.getApp();
- initWorkThreadHandler();
- initView();
- }
-
- private void initView() {
- if (mSpeedView == null) {
- mSpeedView = new TextView(mContext);
- mSpeedView.setSingleLine(false);
- mSpeedView.setTextColor(Color.WHITE);
- mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
- mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
- }
- }
-
- private static Handler mWorkThreadHandler;
- protected static Handler mRenderThreadHandler = null;
-
- /**
- * 处理 marker 移除的线程
- */
- private static void initWorkThreadHandler() {
- if (mWorkThreadHandler == null) {
- mWorkThreadHandler = new Handler(WorkThreadHandler.newInstance("3d-marker-work-thread").getLooper()) {
- @Override
- public void handleMessage(Message msg) {
- super.handleMessage(msg);
- if (msg.what == MSG_REMOVE_DIRTY_MARKERS) {
- if (msg.obj instanceof Map) {
- removeDirtyMarkers(((Map) msg.obj));
- Set key = ((Map) msg.obj).keySet();
- for (String id : key) {
- // 清除道路缓存
- clearRoadCacheById(id);
- }
- } else if (msg.obj instanceof String) {
- MogoApisHandler.getInstance().getApis()
- .getMapServiceApi()
- .getMarkerManager(AbsMogoApplication.getApp())
- .removeMarkers(((String) msg.obj));
- }
- }
- }
- };
- }
-
- if (mRenderThreadHandler == null) {
- mRenderThreadHandler = new Handler(WorkThreadHandler.newInstance("render-thread-" + new Random().nextLong()).getLooper()) {
- @Override
- public void handleMessage(Message msg) {
- super.handleMessage(msg);
- if (msg.what == MSG_DISPLAY_SPEED) {
- if (msg.obj instanceof SpeedData) {
- showSpeed((SpeedData) msg.obj);
- }
- }
- }
- };
- }
- }
-
- public static void showSpeed(SpeedData speedData) {
- showIdentitySpeed(speedData.getMarker()
- , speedData.getSpeed()
- , speedData.getUuid()
- , speedData.getType()
- , speedData.getHeading()
- , speedData.getIsVrMode());
}
/**
@@ -162,10 +70,7 @@ public class BaseDrawer {
* @param data 数据体
*/
public void sendMessage(int msg, Object data) {
- Message message = Message.obtain();
- message.what = msg;
- message.obj = data;
- mWorkThreadHandler.sendMessage(message);
+
}
/**
@@ -185,20 +90,6 @@ public class BaseDrawer {
&& recognizedType != AdasRecognizedType.classIdUnKnow;
}
- /**
- * 是否展示车速，UUID以及类型
- *
- * @param type {@link AdasRecognizedType}
- * @return showSpeed
- */
- public boolean shouldShowSpeed(int type) {
- return true; //todo 验证行人预警,对行人和自行车不做infoWindow过滤
- // AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
- // return recognizedType != AdasRecognizedType.classIdPerson;
- // &&recognizedType != AdasRecognizedType.classIdBicycle //todo Bicycle显示
- // && recognizedType != AdasRecognizedType.classIdMoto //todo moto显示
- }
-
/**
* 获取3D锚点模型资源
*
@@ -258,19 +149,6 @@ public class BaseDrawer {
return Car3DModelColor.Normal.color;
}
- /**
- * 返回当前自车速度
- *
- * @return isCurSpeed
- */
- protected double getCurSpeed() {
- double speed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
- if (speed <= 0) {
- speed = SnapshotLocationDataCenter.getInstance().getCurSpeed();
- }
- return speed;
- }
-
/**
* 返回当前自车经纬度
*
@@ -305,45 +183,15 @@ public class BaseDrawer {
* 模型颜色
*/
public enum Car3DModelColor {
-
Normal("#D8D8D8FF"),
Warming("#FFD53EFF"),
Dangerous("#FF3C45FF"),
Error("#7fb80e");
-
private final String color;
Car3DModelColor(String color) {
this.color = color;
}
-
- }
-
- /**
- * 展示车辆速度
- *
- * @param mogoMarker {@link IMogoMarker}
- * @param speed 是否显示速度
- * @param isVrMode 是否是vrMode
- */
- public static void showIdentitySpeed(IMogoMarker mogoMarker, double speed, String uuid,
- int type, double heading, boolean isVrMode) {
- Log.d("EmArrow", "showSelf uuid : " + uuid + " speed : " + speed);
- if (mogoMarker == null || mogoMarker.isDestroyed()) {
- return;
- }
- if (!isVrMode) {
- mogoMarker.hideInfoWindow();
- return;
- }
- int speedIntVal = (int) (speed * 3.6);
- mogoMarker.setInfoWindowOffset(0, 20);
- String text = "uuid : " + uuid + "\n"
- + "speed : " + speedIntVal + "\n"
- + "type : " + type + "\n"
- + "heading : " + heading;
- mSpeedView.setText(text);
- mogoMarker.updateInfoWindowView(mSpeedView);
}
/**
@@ -386,35 +234,6 @@ public class BaseDrawer {
mMarkerCachesResMd5Values.put(id, md5);
}
- /**
- * 道路匹配到车道中心点
- *
- * @param lon 经度
- * @param lat 纬度
- * @param angle 方向角
- * @param isRtk 是否是RTK
- * @return 匹配经纬度值
- */
- public double[] matchRoad(String id, double lon, double lat, double angle, boolean isRtk) {
- final long start = System.currentTimeMillis();
- double[] matchRoad = MogoApisHandler.getInstance()
- .getApis()
- .getMapServiceApi()
- .getMapUIController()
- .matchRoad(id, lon, lat, angle, true, isRtk);
- Log.i("timer-matchRoad", "cost " + (System.currentTimeMillis() - start) + "ms");
- return matchRoad;
- }
-
- /**
- * 清理缓存路段数据
- *
- * @param id 缓存数据Key
- */
- public static void clearRoadCacheById(String id) {
- MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().clearRoadCacheById(id);
- }
-
/**
* 使用系统时间或卫星时间计算出动画的运动时间，最小值45，防止两个点距离过近设置的最小动画执行时间
*
@@ -435,53 +254,4 @@ public class BaseDrawer {
return interval;
}
- /**
- * 根据位置信息、车头朝向计算道路吸附
- *
- * @param id UUID
- * @param lon 经度
- * @param lat 纬度
- * @param heading 方向角
- * @param lastLon 上一个点经度
- * @param lastLat 上一个点纬度
- * @return 匹配经纬度
- */
- protected double[] getMatchLonLat(String id, double lon, double lat, double heading, double lastLon, double lastLat) {
- double[] matchedPoint = matchRoad(id, lon,
- lat,
- heading,
- true
- );
-
- boolean match;
- if (matchedPoint != null) {
- // Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
- match = matchedPoint[2] < 1 && matchedPoint[2] > 0;
-
- if (lastLon != -1) {
- double clearAngle;
- if (heading > 0 && heading <= 90) {
- clearAngle = heading;
- } else if (heading > 90 && heading <= 180) {
- clearAngle = 180 - heading;
- } else if (heading > 180 && heading <= 270) {
- clearAngle = heading - 180;
- } else {
- clearAngle = 360 - heading;
- }
- double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastLon), Math.abs(matchedPoint[1] - lastLat)) * (180 / PI);
- _angle = Math.abs(clearAngle - _angle);
- // Logger.d(TAG, "matchPoint %s angel = %s", lineCounter, _angle);
- if (_angle > 22.5) {
- match = false;
- }
- }
- if (match) {
- lon = matchedPoint[0];
- lat = matchedPoint[1];
- }
- }
-
- return new double[]{lon, lat};
- }
}
diff --git 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
index 6ed10d837b..64a3d07820 100644
--- 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
@@ -1,46 +1,42 @@
package com.mogo.module.common.drawer;
-import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
-
-import android.text.TextUtils;
+import android.content.Context;
+import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.data.traffic.TrafficData;
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.mogo.map.marker.IMogoMarker;
-import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.constants.AdasRecognizedType;
-import com.mogo.module.common.constants.DataTypes;
+import com.mogo.utils.UiThreadHandler;
+import com.mogo.utils.logger.Logger;
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 {
-
+public class IdentifyDataDrawer {
private static final String TAG = "IdentifyDataDrawer";
+
+ protected final Context mContext;
private static volatile IdentifyDataDrawer sInstance;
+
/**
* 上一帧数据的缓存
*/
- private static Map mMarkersCaches = new ConcurrentHashMap<>();
+ private static ConcurrentHashMap mMarkersCaches = new ConcurrentHashMap<>();
+
/**
- * 最后一帧数据的缓存
+ * 已经感知不到的脏数据
*/
- private final Map mLastPositions = new ConcurrentHashMap<>();
+ private final ConcurrentHashMap mDirtyPositions = new ConcurrentHashMap<>();
private IdentifyDataDrawer() {
- super();
+ mContext = AbsMogoApplication.getApp();
+ addPreVehicleModel();
}
public static IdentifyDataDrawer getInstance() {
@@ -63,10 +59,10 @@ public class IdentifyDataDrawer extends BaseDrawer {
*
* @param resultList adas感知融合数据
*/
- public void renderAdasRecognizedResult(List resultList) {
- final long start = System.nanoTime();
+ public void renderAdasRecognizedResult(ArrayList resultList) {
if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
clearOldMarker();
+ Logger.w(TAG, "感知数据为空无需渲染……");
return;
}
@@ -76,186 +72,35 @@ public class IdentifyDataDrawer extends BaseDrawer {
return;
}
- Map newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
- List newDiffSet = new ArrayList<>();
- for (TrafficData recognizedListResult : resultList) {
+ // 循环将集合中的数据提取记录
+ ArrayList trafficDataUuidList = new ArrayList<>();
+ for (TrafficData trafficData : resultList) {
+ trafficDataUuidList.add(trafficData.getUuid());
+ }
- if (isUselessValue(recognizedListResult)) {
- continue;
- }
- if (AdasRecognizedType.valueFrom(recognizedListResult.getType().getType()) == AdasRecognizedType.classIdUnKnow) {
- 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);
+ // 找出上一针数据中已经不在本次数据中存在的数据
+ for (String uuid : mMarkersCaches.keySet()) {
+ if (!trafficDataUuidList.contains(uuid)) {
+ mDirtyPositions.put(uuid, mMarkersCaches.get(uuid));
}
}
- 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);
- if (AdasRecognizedType.valueFrom(recognizedListResult.getType().getType()) == AdasRecognizedType.classIdUnKnow) {
- continue;
- }
- 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(TAG, "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
- * 更新缓存Marker的资源
- *
- * @param marker
- * @param recognizedListResult
- */
- private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
- // 获取3D资源文件
- int resId = getModelRes(recognizedListResult.getType().getType());
- String resIdVal = resId + "";
- // 查询缓存中是否存在
- String resName = mMarkerCachesResMd5Values.get(resIdVal);
- // 缓存存在直接试用,节省内存
- if (!TextUtils.isEmpty(resName)) {
- if (!TextUtils.equals(resName, marker.getMarkerResName())) {
- marker.use3DResource(resName);
- }
- } else {
- // 缓存不存在,取出名称进行缓存
- resName = marker.use3DResource(resId);
- mMarkerCachesResMd5Values.put(resIdVal, resName);
- }
- }
-
- /**
- * // 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
- * 移除工控机长时间没有下发的数据
- */
- private void removeUselessLastRecord() {
- if (mLastPositions.isEmpty()) {
- return;
- }
- Iterator iterator = mLastPositions.values().iterator();
-// Log.d(TAG, "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 newAdasRecognizedMarkersCaches) {
- final long start = System.nanoTime();
- TrafficData lastPosition = mLastPositions.remove(uniqueKey);
- mLastPositions.put(uniqueKey, recognizedListResult);
- 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(TAG, "ADAS动画数据 cost : " + cost);
- final long intervalRef = interval - cost;
- //Log.d(TAG, "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);
-
- // 显示目标车的信息,但是数据多的时候会导致崩溃,不建议打开
-// if (shouldShowSpeed(recognizedListResult.getType().getType())) {
-// SpeedData speedData = new SpeedData(marker
-// , recognizedListResult.getSpeed()
-// , recognizedListResult.getUuid()
-// , recognizedListResult.getType().getType()
-// , recognizedListResult.getHeading()
-// , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
-// showSpeed(speedData);
+// // 移除脏数据
+// for (String uuid : mDirtyPositions.keySet()) {
+// MogoApisHandler.getInstance().getApis()
+// .getMapServiceApi()
+// .getMarkerManager(mContext)
+// .removeMarker(uuid);
// }
+
+ // 绘制新数据
+ MogoApisHandler.getInstance().getApis()
+ .getMapServiceApi()
+ .getMarkerManager(mContext)
+ .updateBatchMarkerPosition(resultList);
+
}
- /**
- * 创建一个新 marker
- *
- * @param recognizedListResult {@link TrafficData}
- * @return {@link IMogoMarker}
- */
- private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
- 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);
- return marker;
- }
/**
* 清除旧的 marker 数据
@@ -264,7 +109,48 @@ public class IdentifyDataDrawer extends BaseDrawer {
if (mMarkersCaches != null) {
mMarkersCaches.clear();
}
- mLastPositions.clear();
- sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
}
+
+ private void addPreVehicleModel() {
+ Logger.d(TAG, "添加感知模型到地图中……");
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi=");
+
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE, "添加感知模型到地图中……preVehicleStrPeople=");
+
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE, "添加感知模型到地图中……preVehicleStrBicycle=");
+
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE, "添加感知模型到地图中……preVehicleStrTaChe=");
+
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO, "添加感知模型到地图中……preVehicleStrMoto=");
+
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS, "添加感知模型到地图中……preVehicleStrBus=");
+
+ addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK, "添加感知模型到地图中……preVehicleStrTruck=");
+ }
+
+ /**
+ * 添加模型到地图中
+ *
+ * @param typeTrafficIdWeiZhi
+ * @param s
+ */
+ private void addPreVehicleModelWeiZhi(TrafficTypeEnum typeTrafficIdWeiZhi, String s) {
+ String preVehicleStrWeiZhi = MogoApisHandler.getInstance().getApis()
+ .getMapServiceApi()
+ .getMarkerManager(mContext)
+ .addPreVehicleModel(typeTrafficIdWeiZhi.getType(),
+ typeTrafficIdWeiZhi.getTraffic3DIconId());
+ Logger.d(TAG, s + preVehicleStrWeiZhi);
+
+ if (preVehicleStrWeiZhi == null) {
+ UiThreadHandler.postDelayed(new Runnable() {
+ @Override
+ public void run() {
+ Logger.w(TAG, "添加感知模型到地图中失败，尝试重复添加……");
+ addPreVehicleModelWeiZhi(typeTrafficIdWeiZhi, s);
+ }
+ }, 1000L);
+ }
+ }
+
}
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
index 5bf02ca451..ce6bd30fa7 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/service/MogoMainService.java
@@ -45,13 +45,13 @@ class MogoMainService extends Service implements IMogoLocationListener {
mServiceApis = MogoApisHandler.getInstance().getApis();
initAndStartLocation();
UiThreadHandler.postDelayed(() -> {
- Logger.d(TAG, "4秒已过，启动基础服务……");
+ Logger.d(TAG, "5秒已过，启动基础服务……");
loadBaseModules();
startTanluService();
initADAS();
initGpsSimulatorListener();
HdMapBuildConfig.isMapLoaded = true;
- }, 4_000L
+ }, 5_000L
);
// 开启延时检测
DelayCheckUtil delayCheckUtil = new DelayCheckUtil(this);
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 1b277e1c15..18b4b423e0 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
@@ -900,7 +900,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
- List trafficData = new ArrayList<>();
+ ArrayList trafficData = new ArrayList<>();
for (BufferedReader reader : readers) {
String line = reader.readLine();
TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
@@ -936,7 +936,7 @@ public class MockIntentHandler implements IntentHandler {
}
}
- List trafficData = new ArrayList<>();
+ ArrayList trafficData = new ArrayList<>();
for (BufferedReader reader : readers2) {
String line = reader.readLine();
TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
index ebf88fc8c5..cf91e8426c 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -113,8 +113,10 @@ public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener,
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
this.STATUS_AUTOPILOT = autoPilotStatusInfo.getControl_pilotmode();
//Log.d("lianglihui","onAutopilotStatusResponse:"+STATUS_AUTOPILOT);
- if (STATUS_AUTOPILOT == 1 && mEnding != null){
- RouteOverlayDrawer.getInstance(mContext).addEndingMarker(mEnding.lat,mEnding.lon);
+ if (STATUS_AUTOPILOT == 1 ){
+ if (mEnding != null){
+ RouteOverlayDrawer.getInstance(mContext).addEndingMarker(mEnding.lat,mEnding.lon);
+ }
}else {
RouteOverlayDrawer.getInstance(mContext).clearEndingMarker();
RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
index 882fa2a9ea..5f51b473c1 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -89,9 +89,9 @@ public class RouteOverlayDrawer {
markderOptions.latitude(lat).longitude(lon);
//Log.d("lianglihui","addEndingMarker-"+lat+":"+lon);
endMarker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(markerType, markderOptions);
- if (DebugConfig.isDebug()){
- ToastUtils.showLong("绘制终点marker,"+lat+":"+lon);
- }
+// if (DebugConfig.isDebug()){
+// ToastUtils.showLong("绘制终点marker,"+lat+":"+lon);
+// }
}
public void clearMogoRouteOverlay(){