优化显示逻辑

libraries/map-custom/build.gradle

@@ -67,7 +67,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.3.9'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.4.0'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }
 

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

@@ -1031,7 +1031,6 @@ public class AMapViewWrapper implements IMogoMapView,
         bean.setLon(lon);
         bean.setGnss_speed(((float) speed));
         bean.setLat(lat);
-        Logger.d("ADASCOOR", "使用rtk定位数据%s", GsonUtil.jsonFromObject(bean));
         mMapView.getLocationClient().updateRTKAutoPilotLocation(bean);
     }
 

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

@@ -484,37 +484,7 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
             return;
         }
 
-
-//        MarkerTranslateAnimation animation = new MarkerTranslateAnimation( newPoints );
-//        animation.setDuration( duration );
-//        animation.setAnimationListener( new MarkerAnimationListener() {
-//            @Override
-//            public void onAnimationStart( @NotNull Animation animation ) {
-//
-//            }
-//
-//            @Override
-//            public void onAnimationEnd( @NotNull Animation animation ) {
-//
-//            }
-//
-//            long lastTime = 0L;
-//
-//            @Override
-//            public void onAnimationRepeat( @NotNull Animation animation ) {
-//                if ( lastTime == 0L ) {
-//                    lastTime = System.currentTimeMillis();
-//                    return;
-//                }
-//                Logger.d( TAG, "frame cost = %s", System.currentTimeMillis() - lastTime );
-//                lastTime = System.currentTimeMillis();
-//            }
-//        } );
-//        mMarker.setTranslateAnimation( animation );
-//        mMarker.startAnimation();
-
         mMarker.startSmooth( newPoints, ( int ) duration );
-//        mMarker.addDynamicAnchorPostion( newPoints.get( newPoints.size() - 1 ), ( int ) duration );
     }
 
     @Override
@@ -537,7 +507,7 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
     @Override
     public void use3DResource( int model3D ) {
         try {
-            mMarker.setMarkerOptions( mMarker.getMarkeOptions().anchorColor( "#00FF00" ).marker3DIcon( model3D ) );
+            mMarker.setMarkerOptions( mMarker.getMarkeOptions().marker3DIcon( model3D ) );
         } catch ( Exception e ) {
             Logger.e( TAG, e, "use3DResource" );
         }

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( CloudRoadData.FROM_ADAS, recognizedListResult.type ) )
-//                .anchorColor( getModelRenderColor(recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading) )
+                .anchorColor( getModelRenderColor(recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading) )
                 .controlAngle( true )
                 .resName( mMarkerCachesResMd5Values.get( resIdVal ) )
                 .icon3DRes( resId )

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 coordinates[] = getCurCoordinates();
-        double curLat = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat();
+        double distance = CoordinateUtils.calculateLineDistance( lon, lat, coordinates[0], coordinates[1] ) * 100;
-        double distance = CoordinateUtils.calculateLineDistance( lon, lat, curLon, curLat ) * 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

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

modules/mogo-module-common/src/main/java/com/mogo/module/common/uploadintime/SnapshotLocationController.java

@@ -1,4 +1,4 @@
-package com.mogo.module.service.uploadintime;
+package com.mogo.module.common.uploadintime;
 
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.realtime.entity.CloudLocationInfo;
@@ -50,6 +50,10 @@ class SnapshotLocationController {
     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）
      *
@@ -60,6 +64,9 @@ class SnapshotLocationController {
             return;
         }
         mLastLocationInfo = cli;
+        mCurSpeed = mLastLocationInfo.getSpeed();
+        mCurLon = mLastLocationInfo.getLon();
+        mCurLat = mLastLocationInfo.getLat();
         mLocationList.add( cli );
     }
 
@@ -97,6 +104,10 @@ class SnapshotLocationController {
         cloudLocationInfo.setSystemTime( systemTime );
         mLastLocationInfo = cloudLocationInfo;
         mMachineCacheList.add( cloudLocationInfo );
+
+        mCurSpeed = mLastLocationInfo.getSpeed();
+        mCurLon = mLastLocationInfo.getLon();
+        mCurLat = mLastLocationInfo.getLat();
     }
 
     /**
@@ -139,4 +150,16 @@ class SnapshotLocationController {
         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;
+    }
 }

modules/mogo-module-map/src/main/java/com/mogo/module/map/MapControlCommandHandler.java

@@ -93,9 +93,11 @@ class MapControlCommandHandler {
                 break;
             case VoiceConstants.CMD_MAP_SPEAK_REMAIN:
                 break;
+            case VoiceConstants.CMD_MAP_OPEN_VR:
             case VoiceConstants.CMD_MAP_OPEN_VR_UN_WAKEUP:
                 MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeToVRMode();
                 break;
+            case VoiceConstants.CMD_MAP_CLOSE_VR:
             case VoiceConstants.CMD_MAP_CLOSE_VR_UN_WAKEUP:
                 MogoApisHandler.getInstance().getApis().getMapFrameControllerApi().changeTo2dMode();
                 break;

modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java

@@ -48,10 +48,26 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements
 
     @Override
     public void changeTo2dMode() {
+        try {
+            mMogoMapView.getMap().getUIController()
+                    .changeMapMode(
+                            MogoApisHandler.getInstance()
+                                    .getApis()
+                                    .getAdasControllerApi()
+                                    .getCurrentSkinMode()
+                    );
+        } catch ( Exception e ) {
+            e.printStackTrace();
+        }
     }
 
     @Override
     public void changeToVRMode() {
+        try {
+            mMogoMapView.getMap().getUIController().changeMapMode( EnumMapUI.Type_VR);
+        } catch ( Exception e ) {
+            e.printStackTrace();
+        }
     }
 
     @Override

modules/mogo-module-map/src/main/java/com/mogo/module/map/VoiceConstants.java

@@ -221,6 +221,8 @@ public class VoiceConstants {
         sCmds.add( VoiceConstants.CMD_MAP_SPEAK_DRAFT_MODE );
         sCmds.add( VoiceConstants.CMD_MAP_SPEAK_DETAIL_MODE );
         sCmds.add( VoiceConstants.CMD_MAP_SPEAK_REMAIN );
+        sCmds.add( VoiceConstants.CMD_MAP_OPEN_VR );
+        sCmds.add( VoiceConstants.CMD_MAP_CLOSE_VR );
 
         // 退到后台不注销的命令
         sUnUnRegisterCmds.add( VoiceConstants.CMD_MAP_CONTINUE_NAVI_MODE );

modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java

@@ -34,6 +34,7 @@ import com.mogo.module.common.MogoModulePaths;
 import com.mogo.module.common.entity.MarkerResponse;
 import com.mogo.module.common.map.MapCenterPointStrategy;
 import com.mogo.module.common.map.Scene;
+import com.mogo.module.common.uploadintime.SnapshotLocationController;
 import com.mogo.module.service.autopilot.AutoPilotRemoteController;
 import com.mogo.module.service.handler.MainLooperHandler;
 import com.mogo.module.service.handler.RefreshWorkThreadHandler;
@@ -47,7 +48,6 @@ import com.mogo.module.service.refresh.CustomRefreshStrategy;
 import com.mogo.module.service.refresh.RefreshObject;
 import com.mogo.module.service.strategy.CarIconDisplayStrategy;
 import com.mogo.module.service.ttsConfig.TtsConfigModleData;
-import com.mogo.module.service.uploadintime.SnapshotLocationController;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
 import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.adas.IMogoAdasCarDataCallback;
@@ -945,7 +945,7 @@ public class MogoServices implements IMogoMapListener,
                 MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, true );
                 MapCenterPointStrategy.resetByChangeMode();
                 MapMarkerManager.getInstance().redrawMarkerByStyleChanged();
-                AIAssist.getInstance( mContext ).speakTTSVoice( "你已进入鹰眼模式" );
+                AIAssist.getInstance( mContext ).speakTTSVoice( "已开启鹰眼模式" );
                 mLastStatusIsVr = true;
             }
         } else {
@@ -954,7 +954,7 @@ public class MogoServices implements IMogoMapListener,
                 MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, false );
                 MapCenterPointStrategy.resetByChangeMode();
                 MapMarkerManager.getInstance().redrawMarkerByStyleChanged();
-                AIAssist.getInstance( mContext ).speakTTSVoice( "你已离开鹰眼模式" );
+                AIAssist.getInstance( mContext ).speakTTSVoice( "已退出鹰眼模式" );
             }
         }
     }

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java

@@ -4,11 +4,11 @@ import android.content.Context;
 import android.content.Intent;
 import android.text.TextUtils;
 
+import com.mogo.module.common.uploadintime.SnapshotLocationController;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.ServiceConst;
 import com.mogo.module.service.carinfo.CarStateInfo;
 import com.mogo.module.service.receiver.MogoReceiver;
-import com.mogo.module.service.uploadintime.SnapshotLocationController;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
 

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java

@@ -32,10 +32,10 @@ import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.dialog.WMDialog;
 import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
 import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
+import com.mogo.module.common.uploadintime.SnapshotLocationController;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.R;
 import com.mogo.module.service.status.EnvStatusManager;
-import com.mogo.module.service.uploadintime.SnapshotLocationController;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.realtime.entity.CloudRoadData;
 import com.mogo.realtime.entity.MogoSnapshotSetData;

modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java

@@ -8,7 +8,7 @@ import android.location.LocationManager;
 import android.os.Bundle;
 
 import com.mogo.commons.AbsMogoApplication;
-import com.mogo.module.service.uploadintime.SnapshotLocationController;
+import com.mogo.module.common.uploadintime.SnapshotLocationController;
 import com.mogo.realtime.entity.CloudLocationInfo;
 import com.mogo.utils.logger.Logger;
 

modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/AdasRecognizedType.java

@@ -1,27 +0,0 @@
-package com.mogo.module.service.marker;
-
-public
-/**
- * @author congtaowang
- * @since 2020/10/27
- * <p>
- * 描述
- */
-class AdasRecognizedType {
-    //背景
-    public static final int classIdBackground = 0;
-    //人
-    public static final int classIdPerson = 1;
-    //自行车
-    public static final int classIdBicycle = 2;
-    //小轿车
-    public static final int classIdCar = 3;
-    //摩托车
-    public static final int classIdMoto = 4;
-    //红绿灯
-    public static final int classIdTrafficSign = 5;
-    //bus
-    public static final int classIdTrafficBus = 6;
-    //track
-    public static final int classIdTrafficTruck = 8;
-}

modules/mogo-module-service/src/main/java/com/mogo/module/service/spi/SPIRealTimeUpload.java

@@ -1,8 +1,8 @@
 package com.mogo.module.service.spi;
 
 import com.elegant.spi.annotations.Service;
+import com.mogo.module.common.uploadintime.SnapshotLocationController;
 import com.mogo.module.service.MarkerServiceHandler;
-import com.mogo.module.service.uploadintime.SnapshotLocationController;
 import com.mogo.realtime.api.IRealTimeProvider;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.realtime.entity.CloudLocationInfo;