diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle index 689d666b06..57f050fa1d 100644 --- a/libraries/map-custom/build.gradle +++ b/libraries/map-custom/build.gradle @@ -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' } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index b0aaefe0ba..f2db47890b 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -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 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 diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java index 67c52400a6..434d568858 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java @@ -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(); } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java index 11a763a6ab..b666458f78 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java @@ -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() ) ) { diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java index ff87e18f54..130612f428 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java @@ -390,7 +390,7 @@ public interface IMogoMarker { } - default void addDynamicAnchorPosition( MogoLatLng latLng, long duration ) { + default void addDynamicAnchorPosition( MogoLatLng latLng, float angle, long duration ) { } diff --git 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 index 1c53fe9628..7b0afdbca1 100644 --- 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 @@ -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 */ 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 cf50dafe33..0612f148f7 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 @@ -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; } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java index da03e4c927..f4a1dd5756 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java @@ -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 ); diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java index 1e906d2d44..94856721a0 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java @@ -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 ); diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java index 8b24ba2358..0ca2652e79 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java @@ -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() ); diff --git a/modules/mogo-module-common/src/main/res/raw/bus.n3d b/modules/mogo-module-common/src/main/res/raw/bus.n3d deleted file mode 100644 index f4d862c630..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/bus.n3d and /dev/null differ diff --git a/modules/mogo-module-common/src/main/res/raw/car.n3d b/modules/mogo-module-common/src/main/res/raw/car.n3d deleted file mode 100644 index ef51f1ee6a..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/car.n3d and /dev/null differ diff --git a/modules/mogo-module-common/src/main/res/raw/carblue.n3d b/modules/mogo-module-common/src/main/res/raw/carblue.n3d deleted file mode 100644 index 7c9212f7b0..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/carblue.n3d and /dev/null differ diff --git a/modules/mogo-module-common/src/main/res/raw/cargreen.n3d b/modules/mogo-module-common/src/main/res/raw/cargreen.n3d deleted file mode 100644 index 4e222bd433..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/cargreen.n3d and /dev/null differ diff --git a/modules/mogo-module-common/src/main/res/raw/cargrey.n3d b/modules/mogo-module-common/src/main/res/raw/cargrey.n3d deleted file mode 100644 index 4483a76e22..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/cargrey.n3d and /dev/null differ diff --git a/modules/mogo-module-common/src/main/res/raw/carred.n3d b/modules/mogo-module-common/src/main/res/raw/carred.n3d deleted file mode 100644 index 8cb2c78f90..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/carred.n3d and /dev/null differ diff --git a/modules/mogo-module-common/src/main/res/raw/motorbike.n3d b/modules/mogo-module-common/src/main/res/raw/motorbike.n3d new file mode 100644 index 0000000000..f3d91fc71f Binary files /dev/null and b/modules/mogo-module-common/src/main/res/raw/motorbike.n3d differ diff --git a/modules/mogo-module-common/src/main/res/raw/othercar.n3d b/modules/mogo-module-common/src/main/res/raw/othercar.n3d new file mode 100644 index 0000000000..93defc656e Binary files /dev/null and b/modules/mogo-module-common/src/main/res/raw/othercar.n3d differ diff --git a/modules/mogo-module-common/src/main/res/raw/people.n3d b/modules/mogo-module-common/src/main/res/raw/people.n3d new file mode 100644 index 0000000000..1774f3ccd8 Binary files /dev/null and b/modules/mogo-module-common/src/main/res/raw/people.n3d differ diff --git a/modules/mogo-module-common/src/main/res/raw/taxi.n3d b/modules/mogo-module-common/src/main/res/raw/taxi.n3d deleted file mode 100644 index 8352a248bc..0000000000 Binary files a/modules/mogo-module-common/src/main/res/raw/taxi.n3d and /dev/null differ 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 bb40935461..45480014d2 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 @@ -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 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();