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Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

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This commit is contained in:
董宏宇
2021-03-16 10:20:28 +08:00
parent 3970f26d1b 5e0d18dbc2
commit acba73e234
21 changed files with 265 additions and 151 deletions
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2
libraries/map-custom/build.gradle
View File

@@ -67,7 +67,7 @@ dependencies {
implementation project(':foudations:mogo-commons')
}
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.2'
implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.3'
// implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
}

110
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -17,6 +17,7 @@ import android.view.ViewGroup;
import android.view.animation.Interpolator;
import android.widget.TextView;
import com.autonavi.nge.map.LonLat;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.IMogoMap;
import com.mogo.map.IMogoMapView;
@@ -56,6 +57,7 @@ import com.zhidaoauto.map.sdk.open.location.RTKAutopilotLocationBean;
import com.zhidaoauto.map.sdk.open.marker.BitmapDescriptorFactory;
import com.zhidaoauto.map.sdk.open.marker.Marker;
import com.zhidaoauto.map.sdk.open.marker.OnMarkClickListener;
import com.zhidaoauto.map.sdk.open.poyline.PolylineOptions;
import com.zhidaoauto.map.sdk.open.query.LonLatPoint;
import com.zhidaoauto.map.sdk.open.tools.MapTools;
import com.zhidaoauto.map.sdk.open.view.MapAutoView;
@@ -65,8 +67,13 @@ import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import org.json.JSONObject;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Random;
import static java.lang.Math.PI;
public class AMapViewWrapper implements IMogoMapView,
IMogoMapUIController,
@@ -731,15 +738,6 @@ public class AMapViewWrapper implements IMogoMapView,
sysLocation.setBearing(location.getHeading());
sysLocation.setSpeed(location.getSpeed());
if (sysLocation.getSpeed() > 0) {
mLastDriveLocationShadow = sysLocation;
} else {
if ((int) sysLocation.getBearing() == 0
&& mLastDriveLocationShadow != null) {
// TODO: 2020/12/12 停车时自车图标方向调整
}
}
NaviClient.getInstance(getContext()).syncCarLocation(sysLocation);
if (checkAMapView() && mMapLoaded) {
// 地图初始化完成后，每隔5s自动判断当前地图的模式
@@ -1042,42 +1040,68 @@ public class AMapViewWrapper implements IMogoMapView,
private double[] matchRoad(String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK, boolean usdCache) {
double wgs[] = new double[]{lon, lat};
long start = System.currentTimeMillis();
RoadCacheWrapper roadCache = roadCacheMap.get(id);
if (roadCache == null) {
SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK);
if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) {
Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId());
roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords());
}
}
Log.i("timer-matchRoad-1", "cost " + (System.currentTimeMillis() - start) + "ms");
if (roadCache != null
&& roadCache.getRoad() != null
&& !roadCache.getRoad().isEmpty()) {
start = System.currentTimeMillis();
double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad());
if (matchedPoint[2] > 0 && matchedPoint[2] < 1.5) {
// if (roadCache.inCache(matchedPoint[0], matchedPoint[1])) {
roadCacheMap.put(id, roadCache);
Log.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms");
return matchedPoint;
// }
// roadCacheMap.put(id, null);
// Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: "+roadCache.getLastLat());
// return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK,false);
}else{
roadCacheMap.put(id, null);
Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat());
if(usdCache) {
return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, false);
}else{
return null;
}
}
//
// try {
// PolylineOptions options = new PolylineOptions( );
// options.setColor( Color.WHITE );
// options.setId( "test-line"+new Random( ).nextLong() );
// options.setGps( true );
// options.setLineWidth( 3 );
// List<LonLatPoint> points = singlePointRoadInfo.getCoords();
// ArrayList< LonLat > lonLats = new ArrayList<>( );
// for ( LonLatPoint point : points ) {
// lonLats.add( new LonLat( point.getLongitude(), point.getLatitude() ) );
// }
// options.setLonLats( lonLats );
// mMapView.getMapAutoViewHelper().drawThickLine( options );
// } catch( Exception e ){
// e.printStackTrace();
// }
SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK);
if ( singlePointRoadInfo == null || singlePointRoadInfo.getCoords() == null || singlePointRoadInfo.getCoords().isEmpty() ) {
return null;
}
roadCacheMap.put(id, null);
return null;
double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], singlePointRoadInfo.getCoords());
return matchedPoint;
// RoadCacheWrapper roadCache = roadCacheMap.get(id);
// if (roadCache == null) {
// SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad(((float) wgs[0]), ((float) wgs[1]), ((float) angle), isGpsLocation, isRTK);
// if (singlePointRoadInfo != null && singlePointRoadInfo.getCoords() != null && !singlePointRoadInfo.getCoords().isEmpty()) {
// Log.i("timer-matchRoad-4", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + singlePointRoadInfo.getRoadId());
// roadCache = new RoadCacheWrapper(singlePointRoadInfo.getCoords());
// }
// }
//
// Log.i("timer-matchRoad-1", "cost " + (System.currentTimeMillis() - start) + "ms");
// if (roadCache != null
// && roadCache.getRoad() != null
// && !roadCache.getRoad().isEmpty()) {
// start = System.currentTimeMillis();
// double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(wgs[0], wgs[1], roadCache.getRoad());
// if (matchedPoint[2] > 0 && matchedPoint[2] < 1.5) {
//// if (roadCache.inCache(matchedPoint[0], matchedPoint[1])) {
// roadCacheMap.put(id, roadCache);
// Log.i("timer-matchRoad-3", "cost " + (System.currentTimeMillis() - start) + "ms");
// return matchedPoint;
//// }
//// roadCacheMap.put(id, null);
//// Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: "+roadCache.getLastLat());
//// return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK,false);
// }else{
// roadCacheMap.put(id, null);
// Log.i("timer-matchRoad-2", "cost " + (System.currentTimeMillis() - start) + "ms roadId: " + roadCache.getLastLat());
//// if(usdCache) {
//// return matchRoad(id, lon, lat, angle, isGpsLocation, isRTK, false);
//// }else{
//// return null;
//// }
// return null;
// }
// }
// roadCacheMap.put(id, null);
// return null;
}
@Override

8
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java
View File

@@ -2,6 +2,7 @@ package com.mogo.map.impl.custom.marker;
import android.graphics.Bitmap;
import android.graphics.Point;
import android.text.TextUtils;
import android.view.View;
import android.view.animation.Interpolator;
@@ -58,6 +59,9 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
if ( marker != null ) {
// 设置自研 marker 的object对象为 IMogoMarker 实例。！！！！
marker.setMObject( this );
if ( !TextUtils.isEmpty( mogoMarkerOptions.getAnchorColor() ) ) {
marker.setAnchorColor( mogoMarkerOptions.getAnchorColor() );
}
MarkerWrapperClickHelper.getInstance().setMogoMarkerMap( marker.getId(), this );
}
setObject( mogoMarkerOptions.getObject() );
@@ -592,9 +596,9 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
}
@Override
public void addDynamicAnchorPosition( MogoLatLng latLng, long duration ) {
public void addDynamicAnchorPosition( MogoLatLng latLng, float angle, long duration ) {
try {
mMarker.addDynamicAnchorPostion( new LonLatPoint( latLng.lon, latLng.lat ), System.currentTimeMillis(), ( int ) duration );
mMarker.addDynamicAnchorPostion( new LonLatPoint( latLng.lon, latLng.lat, angle ), System.currentTimeMillis(), ( int ) duration );
} catch ( Exception e ) {
e.printStackTrace();
}

14
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
View File

@@ -90,6 +90,7 @@ public class ObjectUtils {
// }
MarkerOptions markerOptions = new MarkerOptions()
.setGps( opt.isGps() )
.position( new LonLatPoint( opt.getLongitude(), opt.getLatitude() ) )
.anchor( opt.getU(), opt.getV() )
.icons( descriptors )
@@ -100,13 +101,17 @@ public class ObjectUtils {
.visible( opt.isVisible() )
.infoWindowEnable( opt.isInifoWindowEnable() )
.alpha( opt.getAlpha() )
.setGps( opt.isGps() )
// .draggable( opt.isDraggable() )
.setInfoWindowOffset( opt.getOffsetX(), opt.getOffsetY() )
.zIndex( opt.getzIndex() );
try {
Color.parseColor( opt.getAnchorColor() );
markerOptions.anchorColor( opt.getAnchorColor() );
} catch ( Exception e ) {
}
markerOptions.vrEnable( opt.is3DMode() );
if ( !TextUtils.isEmpty( opt.getResName() ) ) {
markerOptions.setMarkerIconName( opt.getResName() );
markerOptions.vrEnable( opt.is3DMode() );
} else {
BitmapDescriptor descriptor = getBitmapDescriptorFromMogo( opt );
if ( descriptor != null ) {
@@ -114,11 +119,6 @@ public class ObjectUtils {
}
if ( opt.getIcon3DRes() != 0 ) {
markerOptions.marker3DIcon( opt.getIcon3DRes() );
try {
Color.parseColor( opt.getAnchorColor() );
markerOptions.anchorColor( opt.getAnchorColor() );
} catch ( Exception e ) {
}
}
}
if ( !TextUtils.isEmpty( opt.getTitle() ) ) {

2
libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java
View File

@@ -390,7 +390,7 @@ public interface IMogoMarker {
}
default void addDynamicAnchorPosition( MogoLatLng latLng, long duration ) {
default void addDynamicAnchorPosition( MogoLatLng latLng, float angle, long duration ) {
}

119
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -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;
@@ -15,6 +16,7 @@ import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.SimpleHandlerThreadPool;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
@@ -24,6 +26,8 @@ import java.util.Map;
import java.util.Random;
import java.util.concurrent.ConcurrentHashMap;
import static java.lang.Math.PI;
public
/**
* @author congtaowang
@@ -167,7 +171,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mAdasRecognizedMarkersCaches = newAdasRecognizedMarkersCaches;
}
private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>();
// private final Map< String, Boolean > mIsMatchStatusCache = new ArrayMap<>();
private String markerRes;
private String markerRes2;
/**
* 绘制某个物体的一个数据
@@ -177,7 +184,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
*/
private void renderAdasOneFrame( ADASRecognizedResult recognizedListResult, Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
// 暂时只显示车辆
if ( !isCarType( recognizedListResult.type ) ) {
if ( !isRenderType( recognizedListResult.type ) ) {
return;
}
@@ -186,6 +193,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
final double lon = recognizedListResult.lon;
final double lat = recognizedListResult.lat;
final long start = System.currentTimeMillis();
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.uuid, recognizedListResult.lon,
@@ -193,31 +202,52 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
recognizedListResult.heading,
true
);
Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
if ( matchedPoint != null ) {
if ( ( isMatch == null || !isMatch ) ) {
if ( matchedPoint[2] < 0.5 ) {
isMatch = true;
}
} else {
if ( matchedPoint[2] > 1 ) {
isMatch = false;
}
}
if ( isMatch == null ) {
isMatch = false;
}
mIsMatchStatusCache.put( uniqueKey, isMatch );
if ( isMatch ) {
ADASRecognizedResult lastPosition = mLastPositions.remove( uniqueKey );
if ( matchedPoint != null ) {
Logger.d( TAG, "matchPoint %s distance = %s",lineCounter, matchedPoint[2] );
boolean match = matchedPoint[2] < 0.45 && matchedPoint[2] > 0;
if ( lastPosition != null ) {
double _angle = Math.atan2(Math.abs(matchedPoint[0] - lastPosition.lon), Math.abs(matchedPoint[1] - lastPosition.lat)) * (180 / PI);
Logger.d( TAG, "matchPoint %s angel = %s", lineCounter,_angle );
if ( _angle > 22.5 ) {
match = false;
}
}
// mIsMatchStatusCache.put( uniqueKey, match );
if ( match ) {
recognizedListResult.lon = matchedPoint[0];
recognizedListResult.lat = matchedPoint[1];
}
}
mLastPositions.put( uniqueKey, recognizedListResult );
// Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
// if ( matchedPoint != null ) {
// if ( ( isMatch == null || !isMatch ) ) {
// if ( matchedPoint[2] < 0.5 ) {
// isMatch = true;
// }
// } else {
// if ( matchedPoint[2] > 1 ) {
// isMatch = false;
// }
// }
// if ( isMatch == null ) {
// isMatch = false;
// }
// mIsMatchStatusCache.put( uniqueKey, isMatch );
//
// if ( isMatch ) {
// recognizedListResult.lon = matchedPoint[0];
// recognizedListResult.lat = matchedPoint[1];
// }
// }
Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
if ( marker == null || marker.isDestroyed() ) {
marker = drawAdasRecognizedDataMarker( recognizedListResult );
@@ -247,7 +277,40 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
final IMogoMarker renderRef = marker;
final long intervalRef = interval;
SimpleHandlerThreadPool.getInstance().postRender( () -> {
renderRef.addDynamicAnchorPosition( endPoint.point, intervalRef );
renderRef.addDynamicAnchorPosition( endPoint.point, endPoint.angle, intervalRef );
//
// // 原坐标
// MogoMarkerOptions options2 = new MogoMarkerOptions();
// options2.gps( true )
// .position( new MogoLatLng( lat, lon ) )
// .anchor( 0.5f, 0.5f )
// .rotate( endPoint.angle );
// if ( TextUtils.isEmpty( markerRes2 ) ) {
// options2.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.sy ) );
// } else {
// options2.resName( markerRes2 );
// }
// IMogoMarker marker2 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( TAG, options2 );
// if ( TextUtils.isEmpty( markerRes2 ) ) {
// markerRes2 = marker2.getMarkerResName();
// }
//
// // 匹配坐标
// MogoMarkerOptions options = new MogoMarkerOptions();
// options.gps( true )
// .position( endPoint.point )
// .anchor( 0.5f, 0.5f )
// .rotate( endPoint.angle );
// if ( TextUtils.isEmpty( markerRes ) ) {
// options.icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.sr ) );
// } else {
// options.resName( markerRes );
// }
// IMogoMarker marker1 = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( TAG, options );
// if ( TextUtils.isEmpty( markerRes ) ) {
// markerRes = marker1.getMarkerResName();
// }
} );
// method 2
@@ -268,12 +331,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
SpeedData obj = new SpeedData();
obj.context = mContext;
obj.marker = marker;
obj.speed = recognizedListResult.speed;
obj.speed = recognizedListResult.speed;//;lineCounter++
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
mRenderThreadHandler.sendMessage( msg );
}
int lineCounter = 0;
/**
* 绘制 marker
*
@@ -286,13 +351,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
String resIdVal = null;
int resId = getVrModelResId();
int resId = getModelRes( recognizedListResult.type );
resIdVal = resId + "";
MogoMarkerOptions options = new MogoMarkerOptions()
.owner( DataTypes.TYPE_MARKER_ADAS )
.anchor( 0.5f, 0.5f )
.set3DMode( true )
.gps( true )
.anchorColor( getModelRenderColor( CloudRoadData.FROM_ADAS, recognizedListResult.type ) )
.controlAngle( true )
.resName( mMarkerCachesResMd5Values.get( resIdVal ) )
.icon3DRes( resId )
@@ -303,15 +369,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return marker;
}
/**
* 获取 vr 模型资源 id
*
* @return
*/
private int getVrModelResId() {
return R.raw.cargrey;
}
/**
* vr 模式切换
*/

58
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -14,7 +14,9 @@ import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
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.realtime.entity.CloudRoadData;
import com.mogo.utils.WorkThreadHandler;
import java.util.ArrayList;
@@ -103,14 +105,17 @@ class BaseDrawer {
}
/**
* 判断是否是车辆
* 判断是否是绘制内容
*
* @param type
* @return
*/
public boolean isCarType( int type ) {
public boolean isRenderType( int type ) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
if ( recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdMoto
|| recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdPerson
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
return true;
@@ -118,6 +123,53 @@ class BaseDrawer {
return false;
}
/**
* 获取3D锚点模型资源
*
* @param type
* @return
*/
public int getModelRes( int type ) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( type );
if ( recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
return R.raw.othercar;
} else if ( recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdMoto ) {
return R.raw.motorbike;
}
return R.raw.people;
}
/**
* @param fromType {@link com.mogo.realtime.entity.CloudRoadData}
* @return
*/
protected String getModelRenderColor( int fromType, int modelType ) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom( modelType );
if ( recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck ) {
if ( fromType == CloudRoadData.FROM_ADAS ) {
// 灰色
return "#D8D8D8FF";
} else if ( fromType == CloudRoadData.FROM_ROAD_UNIT ) {
// 绿色
return "#3FE792FF";
} else {
// 蓝色
return "#5A8DFFFF";
}
} else if ( recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdMoto ) {
// 灰色
return "#D8D8D8FF";
}
// 灰色
return "#D8D8D8FF";
}
private TextView mSpeedView = null;
/**
@@ -215,7 +267,7 @@ class BaseDrawer {
.getMapServiceApi()
.getMapUIController()
.matchRoad( id, lon, lat, angle, true, isRtk );
Log.i("timer-matchRoad", "cost " + (System.currentTimeMillis() - start) + "ms");
Log.i( "timer-matchRoad", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
return matchRoad;
}

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java
View File

@@ -105,7 +105,7 @@ class OnlineCarDrawer {
String sn = MarkerDrawer.getInstance().getPrimaryKeyFromEntity( markerOnlineCar );
IMogoMarker mogoMarker = existCarMap.get( sn );
if ( mogoMarker == null || mogoMarker.isDestroyed() ) {
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, false, MarkerDrawer.MARKER_Z_INDEX_LOW, R.raw.taxi, listener );
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, false, MarkerDrawer.MARKER_Z_INDEX_LOW, R.raw.othercar, listener );
}
if ( mogoMarker != null ) {
mogoMarker.setVisible( true );

85
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -1,7 +1,6 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.os.Message;
import android.text.TextUtils;
import android.util.ArrayMap;
import android.view.LayoutInflater;
@@ -17,9 +16,7 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.api.CallChatApi;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.drawer.marker.IMarkerView;
import com.mogo.module.common.utils.SimpleHandlerThreadPool;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
@@ -189,7 +186,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
*/
private void renderSnapshotOneFrame(CloudRoadData recognizedListResult, Map< String, IMogoMarker > newAdasRecognizedMarkersCaches ) {
// 暂时只显示车辆
if ( !isCarType( recognizedListResult.getType() ) ) {
if ( !isRenderType( recognizedListResult.getType() ) ) {
return;
}
@@ -200,33 +197,33 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
final long start = System.currentTimeMillis();
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.getUniqueKey(), recognizedListResult.getWgslon(),
recognizedListResult.getWgslat(),
recognizedListResult.getHeading(),
true
);
Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
if ( matchedPoint != null ) {
if ( ( isMatch == null || !isMatch ) ) {
if ( matchedPoint[2] < 0.5 ) {
isMatch = true;
}
} else {
if ( matchedPoint[2] > 1 ) {
isMatch = false;
}
}
if ( isMatch == null ) {
isMatch = false;
}
mIsMatchStatusCache.put( uniqueKey, isMatch );
if ( isMatch ) {
recognizedListResult.setWgslon(matchedPoint[0]);
recognizedListResult.setWgslat(matchedPoint[1]);
}
}
Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
// double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.getUniqueKey(), recognizedListResult.getWgslon(),
// recognizedListResult.getWgslat(),
// recognizedListResult.getHeading(),
// true
// );
// Boolean isMatch = mIsMatchStatusCache.get( uniqueKey );
// if ( matchedPoint != null ) {
// if ( ( isMatch == null || !isMatch ) ) {
// if ( matchedPoint[2] < 0.5 ) {
// isMatch = true;
// }
// } else {
// if ( matchedPoint[2] > 1 ) {
// isMatch = false;
// }
// }
// if ( isMatch == null ) {
// isMatch = false;
// }
// mIsMatchStatusCache.put( uniqueKey, isMatch );
//
// if ( isMatch ) {
// recognizedListResult.setWgslon(matchedPoint[0]);
// recognizedListResult.setWgslat(matchedPoint[1]);
// }
// }
// Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
CloudRoadData lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
@@ -259,7 +256,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
final IMogoMarker renderRef = marker;
final long intervalRef = interval;
SimpleHandlerThreadPool.getInstance().postRender( () -> {
renderRef.addDynamicAnchorPosition( endPoint.point, intervalRef );
renderRef.addDynamicAnchorPosition( endPoint.point, endPoint.angle, intervalRef );
} );
// method 2
@@ -350,8 +347,8 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
String resIdVal = null;
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
options.set3DMode( true );
options.anchorColor( "#00FF00" );
int resId = getVrModelResId( data );
options.anchorColor( getModelRenderColor( data.getFromType(), data.getType() ) );
int resId = getModelRes( data.getType() );
resIdVal = resId + "";
options.resName( mMarkerCachesResMd5Values.get( resIdVal ) );
options.icon3DRes( resId );
@@ -370,24 +367,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
return mMarkerCachesResMd5Values.get( resIdVal );
}
/**
* 获取车辆 3d 模型
*
* @param data 道路数据
* @return 3D车辆模型id
*/
public int getVrModelResId( CloudRoadData data ) {
switch ( data.getFromType() ) {
case CloudRoadData.FROM_ADAS:
return R.raw.cargrey;
case CloudRoadData.FROM_ROAD_UNIT:
return R.raw.cargreen;
case CloudRoadData.FROM_MY_LOCATION:
default:
return R.raw.carblue;
}
}
/**
* 生成 2d marker 资源
*
@@ -456,7 +435,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
setChangeCarModeStatus( false );
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
marker.getMogoMarkerOptions().set3DMode( true );
int resId = getVrModelResId( cloudRoadData );
int resId = getModelRes( cloudRoadData.getType() );
String resName = get3DCacheId( resId + "" );
if ( TextUtils.isEmpty( resName ) ) {
marker.use3DResource( resId );

4
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java
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@@ -181,7 +181,7 @@ public class SimpleHandlerThreadPool {
// 暂时只显示车辆
if ( TextUtils.isEmpty( cloudRoadData.getSn() ) ) {
if ( !SnapshotSetDataDrawer.getInstance().isCarType( cloudRoadData.getType() ) ) {
if ( !SnapshotSetDataDrawer.getInstance().isRenderType( cloudRoadData.getType() ) ) {
return;
}
}
@@ -288,7 +288,7 @@ public class SimpleHandlerThreadPool {
renderHandler.post( () -> {
// 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 ) ) {
finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ), finalInterval );
finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ),(float)cloudRoadData.getHeading(), finalInterval );
Logger.d( TAG, "anim duration: %s in thread: %s", finalInterval, Thread.currentThread().getName() );
} else {
finalMarker.setRotateAngle( ( float ) cloudRoadData.getHeading() );

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modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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@@ -35,7 +35,6 @@ 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;
@@ -55,7 +54,6 @@ import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
/**
@@ -574,7 +572,7 @@ public class MockIntentHandler implements IntentHandler {
.position( new MogoLatLng( 39.981971055705,116.41150648393 ) )
.gps( true )
.controlAngle( true )
.icon3DRes( R.raw.cargrey )
.icon3DRes( R.raw.othercar )
.rotate( ( float ) 358.526123 );
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
List<MogoLatLng> latLngs = new ArrayList<>( );
@@ -894,10 +892,10 @@ public class MockIntentHandler implements IntentHandler {
// adasRecognizedResult.lon = coor[0];
// adasRecognizedResult.lat = coor[1];
allList.add( adasRecognizedResult );
ADASRecognizedResult next = handleMockAdasIntent3();
if(next != null){
allList.add(next);
}
// ADASRecognizedResult next = handleMockAdasIntent3();
// if(next != null){
// allList.add(next);
// }
final long start = System.currentTimeMillis();