优化显示逻辑

2021-03-19 14:34:15 +08:00
parent 6cce553987
commit b7547a34aa
16 changed files with 91 additions and 77 deletions
--- 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
@@ -221,7 +221,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                renderRef.addDynamicAnchorPosition( renderLoc, ( float ) recognizedListResult.heading, intervalRef );
            } );

-//            marker.setAnchorColor( getModelRenderColor(recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading) );
+            marker.setAnchorColor( getModelRenderColor(recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading) );
        } else {
            marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
            marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );
@@ -258,8 +258,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                .anchor( 0.5f, 0.5f )
                .set3DMode( true )
                .gps( true )
-                .anchorColor( getModelRenderColor( CloudRoadData.FROM_ADAS, recognizedListResult.type ) )
-//                .anchorColor( getModelRenderColor(recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading) )
+//                .anchorColor( getModelRenderColor( CloudRoadData.FROM_ADAS, recognizedListResult.type ) )
+                .anchorColor( getModelRenderColor(recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading) )
                .controlAngle( true )
                .resName( mMarkerCachesResMd5Values.get( resIdVal ) )
                .icon3DRes( resId )
--- 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
@@ -17,6 +17,7 @@ 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.uploadintime.SnapshotLocationController;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.realtime.entity.CloudRoadData;
 import com.mogo.utils.WorkThreadHandler;
@@ -188,6 +189,7 @@ class BaseDrawer {

    /**
     * 是否展示车速
+     *
     * @param type
     * @return
     */
@@ -262,9 +264,8 @@ class BaseDrawer {
    protected String getModelRenderColor( double speed, double lon, double lat, double angle ) {

        // 距离策略
-        double curLon = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon();
-        double curLat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
-        double distance = CoordinateUtils.calculateLineDistance( lon, lat, curLon, curLat ) * 100;
+        double coordinates[] = getCurCoordinates();
+        double distance = CoordinateUtils.calculateLineDistance( lon, lat, coordinates[0], coordinates[1] ) * 100;
        if ( distance < 50 ) {
            return Car3DModelColor.Dangerous.color;
        } else if ( distance < 100 && distance >= 50 ) {
@@ -274,7 +275,7 @@ class BaseDrawer {
        // 他车车速和自车车速对比速度策略
        // 自车速度 >= 50% 危险
        // 10% < 自车速度 < 50% 警告
-        double curSpeed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
+        double curSpeed = getCurSpeed();
        if ( curSpeed > 0 && speed > curSpeed ) {
            double rate = ( ( speed - curSpeed ) / curSpeed ) * 100;
            if ( rate >= 50 ) {
@@ -288,6 +289,36 @@ class BaseDrawer {
        return Car3DModelColor.Normal.color;
    }

+    /**
+     * 返回当前自车速度
+     *
+     * @return
+     */
+    private double getCurSpeed() {
+        double speed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
+        if ( speed <= 0 ) {
+            speed = SnapshotLocationController.getInstance().getCurSpeed();
+        }
+        return speed;
+    }
+
+    /**
+     * 返回当前自车经纬度
+     *
+     * @return
+     */
+    private double[] getCurCoordinates() {
+        double coordinates[] = {
+                MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
+                MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
+        };
+        if ( coordinates[0] <= 0 ) {
+            coordinates[0] = SnapshotLocationController.getInstance().getCurLon();
+            coordinates[1] = SnapshotLocationController.getInstance().getCurLat();
+        }
+        return coordinates;
+    }
+

    /**
     * 模型颜色
--- 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
@@ -80,8 +80,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic

    private final Map< String, CloudRoadData > mLastPositions = new ConcurrentHashMap<>();

-    private final Map< String, Long > mLastPositionExecutionTime = new HashMap<>();
-
    private boolean mIsVrMode = false;

    @Override
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java
@@ -0,0 +1,165 @@
+package com.mogo.module.common.uploadintime;
+
+import com.mogo.commons.debug.DebugConfig;
+import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.utils.logger.Logger;
+
+import org.json.JSONObject;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/12/14
+ *
+ * 实时坐标
+ */
+class SnapshotLocationController {
+
+    private static final String TAG = "SnapshotLocationController";
+
+    private static volatile SnapshotLocationController sInstance;
+
+    private SnapshotLocationController() {
+    }
+
+    public static SnapshotLocationController getInstance() {
+        if ( sInstance == null ) {
+            synchronized ( SnapshotLocationController.class ) {
+                if ( sInstance == null ) {
+                    sInstance = new SnapshotLocationController();
+                }
+            }
+        }
+        return sInstance;
+    }
+
+    public synchronized void release() {
+        sInstance = null;
+    }
+
+    private Object readResolve() {
+        // 阻止反序列化，必须实现 Serializable 接口
+        return sInstance;
+    }
+
+    private CloudLocationInfo mLastLocationInfo = null;
+
+    private List< CloudLocationInfo > mLocationList = new ArrayList<>();
+    private int mDataAccuracy = 0;
+
+    private double mCurSpeed;
+    private double mCurLon;
+    private double mCurLat;
+
+    /**
+     * 同步从定位来的数据（也可能是rtk）
+     *
+     * @param cli
+     */
+    public void syncLocationInfo( CloudLocationInfo cli ) {
+        if ( cli == null ) {
+            return;
+        }
+        mLastLocationInfo = cli;
+        mCurSpeed = mLastLocationInfo.getSpeed();
+        mCurLon = mLastLocationInfo.getLon();
+        mCurLat = mLastLocationInfo.getLat();
+        mLocationList.add( cli );
+    }
+
+    // adda 工控机数据缓存
+    private List< CloudLocationInfo > mMachineCacheList = new ArrayList<>();
+
+    /**
+     * 同步从工控机来的数据
+     *
+     * @param data
+     */
+    public void syncAdasLocationInfo( JSONObject data ) {
+        if ( data == null ) {
+            return;
+        }
+        DebugConfig.setStatus( DebugConfig.sLocation, true );
+        Logger.d( TAG, "同步到rtk数据" );
+        double lon = data.optDouble( "lon", -1 );
+        double lat = data.optDouble( "lat", -1 );
+        double alt = data.optDouble( "alt", -1 );
+        double heading = data.optDouble( "heading", -1 );
+        double acceleration = data.optDouble( "acceleration", -1 );
+        double yawRate = data.optDouble( "yawRate", -1 );
+        double speed = data.optDouble( "speed", -1 );
+        long satelliteTime = data.optLong( "satelliteTime" );
+        long systemTime = data.optLong( "systemTime" );
+
+        CloudLocationInfo cloudLocationInfo = new CloudLocationInfo();
+        cloudLocationInfo.setAlt( alt );
+        cloudLocationInfo.setHeading( heading );
+        cloudLocationInfo.setLat( lat );
+        cloudLocationInfo.setLon( lon );
+        cloudLocationInfo.setSpeed( speed );
+        cloudLocationInfo.setSatelliteTime( satelliteTime );
+        cloudLocationInfo.setSystemTime( systemTime );
+        mLastLocationInfo = cloudLocationInfo;
+        mMachineCacheList.add( cloudLocationInfo );
+
+        mCurSpeed = mLastLocationInfo.getSpeed();
+        mCurLon = mLastLocationInfo.getLon();
+        mCurLat = mLastLocationInfo.getLat();
+    }
+
+    /**
+     * 获取某一段时间内的坐标集合
+     *
+     * @return
+     */
+    public List< CloudLocationInfo > getSendLocationData() {
+
+        List< CloudLocationInfo > list = null;
+        if ( mMachineCacheList != null ) {
+            mDataAccuracy = 1;
+            list = new ArrayList<>( mMachineCacheList );
+            mMachineCacheList.clear();
+        }
+        if ( list == null || list.isEmpty() ) {
+            mDataAccuracy = 0;
+            if ( mLocationList != null ) {
+                list = new ArrayList<>( mLocationList );
+                mLocationList.clear();
+            }
+        }
+        if ( list == null || list.isEmpty() ) {
+            if ( mLastLocationInfo != null ) {
+                list = new ArrayList();
+                list.add( mLastLocationInfo );
+                mLastLocationInfo = null;
+            }
+        }
+        Logger.d( TAG, "upload loc size = %s", list == null ? 0 : list.size() );
+        return list;
+    }
+
+    /**
+     * 数据精度类型，目前按照数据来源标志
+     *
+     * @return
+     */
+    public int getDataAccuracy() {
+        Logger.d( TAG, "upload loc accuracy = %s", mDataAccuracy );
+        return mDataAccuracy;
+    }
+
+    public double getCurSpeed() {
+        return mCurSpeed;
+    }
+
+    public double getCurLon() {
+        return mCurLon;
+    }
+
+    public double getCurLat() {
+        return mCurLat;
+    }
+}