diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt index 357b370784..df3a0a074f 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt @@ -15,7 +15,8 @@ import mogo.telematics.pad.MessagePad.TrackedObject * * @author donghongyu */ -class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotIdentifyListener { +class MapIdentifySubscriber private constructor() : IMoGoSubscriber, + IMoGoAutopilotIdentifyListener { private val TAG = "MapIdentifySubscriber" @@ -42,7 +43,9 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopi override fun onAutopilotIdentifyDataUpdate(trafficData: List?) { try { if (FunctionBuildConfig.isDrawIdentifyData) { - ThreadUtils.getSinglePool().execute { IdentifyFactory.renderAdasRecognizedResult(trafficData) } + ThreadUtils.getSinglePool().execute { + IdentifyFactory.renderAdasRecognizedResult(trafficData) + } } else { IdentifyFactory.clearOldMarker() } @@ -54,7 +57,8 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber, IMoGoAutopi override fun onAutopilotIdentifyPlanningObj(planningObjects: List?) { try { if (FunctionBuildConfig.isDrawIdentifyData) { - ThreadUtils.getSinglePool().execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) } + ThreadUtils.getSinglePool() + .execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) } } } catch (e: Exception) { e.printStackTrace() diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt index b459127ab8..0c83cf032d 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt @@ -1,7 +1,10 @@ package com.mogo.eagle.core.function.map.identify +import android.os.Handler +import android.os.Message import com.mogo.eagle.core.data.config.FunctionBuildConfig import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils +import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler import mogo.telematics.pad.MessagePad import mogo.telematics.pad.MessagePad.TrackedObject @@ -14,25 +17,61 @@ object IdentifyFactory : Identify { internal val beautifyDataDrawer = IdentifyBeautifyDataDrawer() } - override fun renderPlanningWarningObj(planningObjects: List?) { - identify!!.renderPlanningWarningObj(planningObjects) - } - - override fun renderAdasRecognizedResult(resultList: List?) { - identify!!.renderAdasRecognizedResult(resultList) - } - - override fun clearOldMarker() { - identify!!.clearOldMarker() - } - private var identify: Identify? = null - init { //todo 还得加开关做判断 + init { identify = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { UserIdentify.beautifyDataDrawer } else { DriverIdentify.originDataDrawer } } + + private const val MSG_DATA_TRACK = 0 + private const val MSG_DATA_WARNING = 1 + private const val MSG_DATA_CLEAR = 2 + + // 维护一个线程定时轮询数据进行地图绘制 + private val mDrawerHandler: Handler = + object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) { + override fun handleMessage(msg: Message) { + super.handleMessage(msg) + when(msg.what){ + MSG_DATA_TRACK -> { + if(msg.obj is List<*>){ + identify!!.renderAdasRecognizedResult(msg.obj as List?) + } + } + MSG_DATA_WARNING -> { + if(msg.obj is List<*>){ + identify!!.renderPlanningWarningObj(msg.obj as List?) + } + } + MSG_DATA_CLEAR ->{ + identify!!.clearOldMarker() + } + } + } + } + + override fun renderAdasRecognizedResult(resultList: List?) { + val message = Message.obtain() + message.what = MSG_DATA_TRACK + message.obj = resultList + mDrawerHandler.sendMessage(message) + } + + override fun renderPlanningWarningObj(planningObjects: List?) { + val message = Message.obtain() + message.what = MSG_DATA_WARNING + message.obj = planningObjects + mDrawerHandler.sendMessage(message) + } + + override fun clearOldMarker() { + val message = Message.obtain() + message.what = MSG_DATA_CLEAR + mDrawerHandler.sendMessage(message) + } + } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt index 7e575fcaee..142c21feed 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt @@ -1,7 +1,6 @@ package com.mogo.eagle.core.function.map.identify import android.annotation.SuppressLint -import android.util.Log import androidx.collection.ArraySet import com.mogo.commons.AbsMogoApplication import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo @@ -15,7 +14,6 @@ import com.mogo.module.common.MogoApisHandler import mogo.telematics.pad.MessagePad import mogo.telematics.pad.MessagePad.TrackedObject import java.util.concurrent.ConcurrentHashMap -import java.util.function.Consumer /** * @author xiaoyuzhou @@ -33,6 +31,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener { CallerAutoPilotStatusListenerManager.addListener(TAG, this) } + @Volatile private var mAutopilotStatus: Int = 0 //自动驾驶状态 /** @@ -40,11 +39,6 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener { */ private val mMarkersCaches = ConcurrentHashMap() - /** - * kalman缓存数据 - */ - private val algoCache = ConcurrentHashMap() - /** * 记录每次实际绘制的交通元素UUID */ @@ -58,53 +52,31 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener { /** * planning 感知物预警缓存，用于重置color状态 */ - private val colorTrafficData = ArrayList() - - private val obj = TrackedObject.newBuilder().setUuid(67025).setLongitude(112.57413261072935).setLatitude(26.821571389153718).setHeading(329.9748205834151).setSpeed(0.0).setType(3).build() - private val obj1 = TrackedObject.newBuilder().setUuid(3124).setLongitude(112.57433521072935).setLatitude(26.821472689153718).setHeading(329.9748205834151).setSpeed(0.0).setType(3).build() - private val obj2 = TrackedObject.newBuilder().setUuid(12).setLongitude(112.57423521072935).setLatitude(26.821372689153718).setHeading(329.9748205834151).setSpeed(0.0).setType(3).build() + private val colorTrafficData = ConcurrentHashMap() @SuppressLint("NewApi") override fun renderPlanningWarningObj(planningObjects: List?) { + colorTrafficData.clear() //处于美化模式或者自动驾驶状态下展示 - if(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || mAutopilotStatus==2){ + if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || mAutopilotStatus == 2) { if (planningObjects == null) { - Log.d("hy","planningObjects null") - if (colorTrafficData.size == 0) { - return - } - colorTrafficData.forEach { - val cacheData = mMarkersCaches[it] //todo 是否要直接绘制 还是等下一帧 - if (cacheData != null) { - mMarkersCaches[it] = cacheData.toBuilder().setColor("#D8D8D8FF").build() - } - } - colorTrafficData.clear() return } val tempTrafficData = ArrayList() - -// //todo test code 用于模拟感知物 -// mMarkersCaches["67025"] = obj -// mMarkersCaches["3124"] = obj1 -// mMarkersCaches["12"] = obj2 - - mMarkersCaches.forEach { (uuid, data) -> - var temp = data - planningObjects.forEach { - val trackId = it.uuid.toString() - if(uuid == trackId){ - colorTrafficData.add(trackId) - temp = data.toBuilder().setColor("#FFBCB239").build() + planningObjects.forEach { planningObj -> + val trackId = planningObj.uuid.toString() + if(mMarkersCaches.containsKey(trackId)){ + val trackObj = mMarkersCaches[trackId] + trackObj?.let { + colorTrafficData[trackId] = "#FFBCB239" + val temp = it.toBuilder().setColor("#FFBCB239").build() + tempTrafficData.add(temp) } } - tempTrafficData.add(temp) } - MogoMarkerManager.getInstance(AbsMogoApplication.getApp()) .updateBatchMarkerPosition(tempTrafficData) } - } /** @@ -129,18 +101,22 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener { for (data in resultList) { if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) { if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) { - //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染"); continue } trafficDataUuidList.remove("" + data.uuid) } } - trafficDataUuidList.forEach(Consumer { uuid: String -> - mMarkersCaches.remove(uuid) - algoCache.remove(uuid) + + //清除缓存,删除marker + val it: MutableIterator<*> = trafficDataUuidList.iterator() + while (it.hasNext()) { + val key = it.next() as String + it.remove() + mMarkersCaches.remove(key) MogoMarkerManager.getInstance(AbsMogoApplication.getApp()) - .removeMarker(uuid) - }) + .removeMarker(key) + } + val filterList = filterTrafficData(resultList) if (filterList.size > 0) { // 绘制新数据 @@ -160,22 +136,24 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener { for (data in trafficData) { // 过滤掉未知感知数据 if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) { - //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染"); continue } + var temp:TrackedObject = data val uuid = "" + data.uuid //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map val cacheData = mMarkersCaches[uuid] if (cacheData != null) { if (data.speed < 0.5) { - data.toBuilder().setHeading(cacheData.heading).setLongitude(cacheData.longitude) + temp = data.toBuilder().setHeading(cacheData.heading).setLongitude(cacheData.longitude) .setLatitude(cacheData.latitude).build() } } - mMarkersCaches[uuid] = data + mMarkersCaches[uuid] = temp trafficDataUuidList.add(uuid) - mFilterTrafficData.add(data) - //更新已存在的感知物体数据 + if(colorTrafficData.containsKey(uuid)){ + continue + } + mFilterTrafficData.add(temp) } return mFilterTrafficData }