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add foreCastMogoLatLon func

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This commit is contained in:
zhongchao
2021-05-26 17:54:43 +08:00
parent 37b5cdd37d
commit 9fd2f0544e
3 changed files with 63 additions and 25 deletions
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62
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,19 +1,18 @@
package com.mogo.module.common.drawer;
import android.os.Build;
import android.text.TextUtils;
import android.util.Log;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.cloud.socket.entity.SocketDownDataHelper;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.MogoLatLng;
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 com.mogo.module.common.utils.SimpleHandlerThreadPool;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.IMogoADASController;
import java.util.ArrayList;
import java.util.Iterator;
@@ -154,7 +153,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
/**
* 对数据补点 //todo 重构
* 对数据补点
*
* @param in
* @param out
*/
@@ -163,22 +163,43 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
out.addAll(in);
}
private final static String FORECAST = "adasForecast";
/**
* 预测补点
* 基于工控机识别的数据点速度预测当前位置和距离自车距离
*
* @param data 道路数据集合
* @param in 数据源
*/
private void foreCastPoint(List<ADASRecognizedResult> data) {
// if (data == null || data.isEmpty()) {
// return;
// }
// List<ADASRecognizedResult> newList = new ArrayList<>();
// for (ADASRecognizedResult adasRecognizedResult : data) {
// //todo 补点
// newList.add(adasRecognizedResult);
// }
// data.clear();
// data.addAll(newList);
private void foreCastPoint(List<ADASRecognizedResult> in) {
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
for (ADASRecognizedResult adasResult : in) {
Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.uuid);
long internal = getCurSatelliteTime() - adasResult.satelliteTime;
if (internal <= 0) {
Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.uuid);
continue;
}
long startTime = System.nanoTime();
// 预测点
Log.d(FORECAST, "time internal : " + internal);
double foreCastDistance = adasResult.speed * internal;
Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
MogoLatLng mogoLatLng = new MogoLatLng(adasResult.lat, adasResult.lon);
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.heading);
// 计算与自车距离
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
, foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
long foreCastInternal = System.nanoTime() - startTime;
Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 看是否耗时，增加的时间需要从当前SNTP时间减去
adasResult.lat = foreCastMogoLatLon.getLat();
adasResult.lon = foreCastMogoLatLon.getLon();
adasResult.satelliteTime = (getCurSatelliteTime() - foreCastInternal);
adasResult.distance = distanceFromSelf;
}
}
}
/**
@@ -207,7 +228,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
Iterator<ADASRecognizedResult> iterator = mLastPositions.values().iterator();
Log.d("EmArrow","removeUselessLastRecord size : " + mLastPositions.size());
Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
while (iterator.hasNext()) {
ADASRecognizedResult result = iterator.next();
long internal = result.satelliteTime - getCurSatelliteTime();
@@ -219,6 +240,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 过滤无用数据
*
* @param recognizedListResult {@link ADASRecognizedResult}
* @return useless
*/
@@ -236,7 +258,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 绘制某个物体的一个数据 todo 缓存问题
*
* @param recognizedListResult {@link ADASRecognizedResult}
* @param recognizedListResult {@link ADASRecognizedResult}
* @param newAdasRecognizedMarkersCaches
*/
private void renderAdasOneFrame(IMogoMarker marker,

23
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -7,6 +7,7 @@ import android.view.LayoutInflater;
import android.view.View;
import android.widget.ImageView;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.cloud.socket.entity.SocketDownDataHelper;
import com.mogo.commons.AbsMogoApplication;
@@ -358,28 +359,42 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
data.addAll(newList);
}
private final static String FORECAST = "snapshotForecast";
/**
* 基于云平台下发的数据点速度预测当前位置和距离自车距离
*
* @param in 数据源
*/
private void foreCastPoint(List<SocketDownData.CloudRoadDataProto> in) {
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
for (SocketDownData.CloudRoadDataProto proto : in) {
SocketDownData.CloudRoadDataProto.Builder builder = proto.toBuilder();
Log.d(FORECAST, "ready to foreCast current uuid : " + proto.getUuid());
long internal = getCurSatelliteTime() - builder.getSatelliteTime();
if (internal <= 0) {
Log.d(FORECAST, "time internal less than 0 , uuid : " + proto.getUuid());
continue;
}
long startTime = System.nanoTime();
// 预测点
Log.d(FORECAST, "time internal : " + internal);
double foreCastDistance = proto.getSpeed() * internal;
MogoLatLng mogoLatLng = new MogoLatLng(proto.getWgslat(),proto.getWgslon());
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng,foreCastDistance,proto.getHeading());
Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
MogoLatLng mogoLatLng = new MogoLatLng(proto.getWgslat(), proto.getWgslon());
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, proto.getHeading());
// 计算与自车距离
// getCurCoordinates();
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
, foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
long foreCastInternal = System.nanoTime() - startTime;
Log.d("ForeCastTime","foreCastInternal :" + foreCastDistance); //todo 看是否耗时，增加的时间需要从当前SNTP时间减去
Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 看是否耗时，增加的时间需要从当前SNTP时间减去
builder.setWgslat(foreCastMogoLatLon.getLat());
builder.setWgslon(foreCastMogoLatLon.getLon());
builder.setSatelliteTime(getCurSatelliteTime() - foreCastInternal);
builder.setDistance(distanceFromSelf);
}
}
}