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fix bug of addMarker

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This commit is contained in:
zhongchao
2021-05-11 16:54:35 +08:00
parent 470fabfe1b
commit b467198505
4 changed files with 58 additions and 25 deletions
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12
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -37,7 +37,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
super();
}
private final Map< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
private final ConcurrentHashMap< String, ADASRecognizedResult > mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if ( sInstance == null ) {
@@ -79,11 +79,12 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new HashMap<>();
ConcurrentHashMap< String, IMogoMarker > newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
List< ADASRecognizedResult > newDiffSet = new ArrayList<>();
for ( ADASRecognizedResult recognizedListResult : resultList ) {
if ( isUselessValue( recognizedListResult ) ) {
Logger.d(TAG,"存在uuid为空数据");
continue;
}
@@ -93,7 +94,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if ( marker != null && !marker.isDestroyed() ) {
renderAdasOneFrame( marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches );
} else {
// 新增差集
// 新增添加进差集
newDiffSet.add( recognizedListResult );
}
}
@@ -105,7 +106,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
// 需要新增的 marker 数量
int newDiffSetSize = newDiffSet.size();
// 能复用的数量
int size = cachedMarkerSize >= newDiffSetSize ? newDiffSetSize : cachedMarkerSize;
int size = Math.min(cachedMarkerSize, newDiffSetSize);
// 复用过期 marker
if ( newDiffSetSize > 0 ) {
@@ -121,7 +122,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
continue;
}
// 更新资源内容
// 复用，更新marker 3D资源
if ( old == null || old.type != recognizedListResult.type ) {
String resIdVal = null;
int resId = getModelRes( recognizedListResult.type );
@@ -227,6 +228,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
obj.context = mContext;
obj.marker = marker;
obj.speed = recognizedListResult.speed;
obj.uuid = recognizedListResult.uuid;
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
msg.sendToTarget();

19
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -25,6 +25,7 @@ import java.util.Iterator;
import java.util.Map;
import java.util.Random;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
import static java.lang.Math.PI;
@@ -45,12 +46,14 @@ class BaseDrawer {
public IMogoMarker marker;
public Context context;
double speed;
String uuid;
public void showSpeed() {
try {
showSelfSpeed(context,
marker,
speed,
uuid,
MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
} catch (Exception e) {
e.printStackTrace();
@@ -79,12 +82,12 @@ class BaseDrawer {
/**
* 地图内部资源md5缓存，便于资源复用
*/
protected static final Map<String, String> mMarkerCachesResMd5Values = new HashMap<>();
protected static final ConcurrentHashMap<String, String> mMarkerCachesResMd5Values = new ConcurrentHashMap<>();
/**
* 上一帧数据的缓存
*/
protected Map<String, IMogoMarker> mMarkersCaches = new HashMap<>();
protected static ConcurrentHashMap<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
protected final Context mContext;
@@ -208,8 +211,7 @@ class BaseDrawer {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
return recognizedType != AdasRecognizedType.classIdBicycle
&& recognizedType != AdasRecognizedType.classIdMoto
&& recognizedType != AdasRecognizedType.classIdPerson
&& recognizedType != AdasRecognizedType.classIdUnKnow; //todo unKnow物体不绘制车速
&& recognizedType != AdasRecognizedType.classIdPerson;
}
/**
@@ -252,8 +254,8 @@ class BaseDrawer {
if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
return "#D8D8D8FF";
}
if (recognizedType == AdasRecognizedType.classIdUnKnow){ //todo unKnow颜色绘制
return "#FF2894FF";
if (recognizedType == AdasRecognizedType.classIdUnKnow) { //todo unKnow颜色绘制
return Car3DModelColor.Normal.color;
}
// 距离策略
double[] coordinates = getCurCoordinates();
@@ -338,7 +340,7 @@ class BaseDrawer {
* @param speed 是否显示速度
* @param isVrMode 是否是vrMode
*/
public void showSelfSpeed(Context context, IMogoMarker mogoMarker, double speed, boolean isVrMode) {
public void showSelfSpeed(Context context, IMogoMarker mogoMarker, double speed, String uuid, boolean isVrMode) {
if (mogoMarker == null || mogoMarker.isDestroyed()) {
return;
}
@@ -361,7 +363,8 @@ class BaseDrawer {
mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
}
mSpeedView.setText(speedVal);
String text = "速度:" + speedIntVal + "/n" + "uuid:" + uuid;
mSpeedView.setText(text);
mogoMarker.updateInfoWindowView(mSpeedView);
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().setMarkerInfoResName(speedVal, mogoMarker.getMarkerInfoResName());
} else {

10
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -73,7 +73,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
return sInstance;
}
private final Map< String, CloudRoadData > mLastPositions = new ConcurrentHashMap<>();
private final ConcurrentHashMap< String, CloudRoadData > mLastPositions = new ConcurrentHashMap<>();
private boolean mIsVrMode = false;
@@ -87,7 +87,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
Logger.d( TAG, "%s - %s", descriptor, isTrue );
mChangeCarModeStatus = true;
sendMessage( MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches );
mMarkersCaches = new HashMap<>();
mMarkersCaches = new ConcurrentHashMap<>();
if ( mLastPositions != null ) {
mLastPositions.clear();
}
@@ -142,7 +142,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
/**
* mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
* 绘制来自云端的 mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
*
* @param data 自车周边数据
*/
@@ -155,7 +155,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
List< CloudRoadData > allDatumsList = new ArrayList<>();
prepareData( data.getAllList(), allDatumsList );
Map< String, IMogoMarker > newMarkersCaches = new HashMap<>( allDatumsList.size() );
ConcurrentHashMap< String, IMogoMarker > newMarkersCaches = new ConcurrentHashMap<>( allDatumsList.size() );
List< CloudRoadData > newDiffSet = new ArrayList<>();
for ( CloudRoadData cloudRoadData : allDatumsList ) {
@@ -298,6 +298,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
obj.context = mContext;
obj.marker = marker;
obj.speed = cloudRoadData.getSpeed();
obj.uuid = cloudRoadData.getUuid();
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
msg.sendToTarget();
@@ -317,6 +318,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
/**
* vr 模式下显示合并数据，否则只显示 mogo 车辆上报的数据
* 展示融合数据，不包括自车定位数据和adas识别数据
*
* @param data 道路数据集合
*/

42
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -139,7 +139,11 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
});
}
// 下发的数据
/*
* 云端下发数据与adas定频传输数据均发送至同一Handler线程处理
*/
// 云端下发的数据
MoGoAiCloudRealTime.registerOnMsgListener(new IMogoCloudOnMsgListener() {
@Override
public void onMsgSend(long id) {
@@ -151,14 +155,17 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
DebugConfig.setStatus(DebugConfig.sDownloadSnapshot, true);
Message msg = mSnapshotHandler.obtainMessage();
msg.obj = mogoSnapshotSetData;
msg.what = MSG_SNAPSHOT;
msg.sendToTarget();
}
});
// adas 每隔一秒传递的数据
// adas 每隔一定频率传递过来的数据
MarkerServiceHandler.getApis().getAdasControllerApi().addAdasRecognizedDataCallback(resultList -> {
// 绘制近景识别到的车辆
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(resultList);
Message msg = mSnapshotHandler.obtainMessage();
msg.obj = resultList;
msg.what = MSG_ADAS;
msg.sendToTarget();
//添加自车的定位图标，碰撞只有一个预警,还需要和adas 联调，
// for ( ADASRecognizedResult result : resultList) {
@@ -202,15 +209,34 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
}
}
private final static int MSG_SNAPSHOT = 1;
private final static int MSG_ADAS = 2;
/**
* todo 后续从云端和adas侧拿到的数据 需求对数据流进行重新架构以扩展除添加marker外的其他预警类业务
* todo (应需要模块主动注册adas或云端数据回调，在具体模块内添加绘制需求，需要与地图侧确认是否支持并发)
*/
private final Handler mSnapshotHandler = new Handler(WorkThreadHandler.newInstance("snapshot-thread").getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.obj instanceof MogoSnapshotSetData) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(((MogoSnapshotSetData) msg.obj));
} else if (msg.obj == null) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(null);
switch (msg.what) {
case MSG_SNAPSHOT:
if (msg.obj instanceof MogoSnapshotSetData) {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(((MogoSnapshotSetData) msg.obj));
} else {
SnapshotSetDataDrawer.getInstance().renderSnapshotData(null);
}
break;
case MSG_ADAS:
// 绘制近景识别到的车辆
if (msg.obj instanceof List) {
List<ADASRecognizedResult> recognizedResults = (List<ADASRecognizedResult>) msg.obj;
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult(recognizedResults);
}
break;
default:
break;
}
}
};