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fix bug of planning change color

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This commit is contained in:
zhongchao
2022-07-01 13:43:16 +08:00
parent a9e13d7fb6
commit c0a33af901
3 changed files with 88 additions and 67 deletions
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10
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
View File

@@ -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<TrackedObject>?) {
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<MessagePad.PlanningObject>?) {
try {
if (FunctionBuildConfig.isDrawIdentifyData) {
ThreadUtils.getSinglePool().execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) }
ThreadUtils.getSinglePool()
.execute { IdentifyFactory.renderPlanningWarningObj(planningObjects) }
}
} catch (e: Exception) {
e.printStackTrace()

65
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
View File

@@ -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<MessagePad.PlanningObject>?) {
identify!!.renderPlanningWarningObj(planningObjects)
}
override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
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<TrackedObject>?)
}
}
MSG_DATA_WARNING -> {
if(msg.obj is List<*>){
identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
}
}
MSG_DATA_CLEAR ->{
identify!!.clearOldMarker()
}
}
}
}
override fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
val message = Message.obtain()
message.what = MSG_DATA_TRACK
message.obj = resultList
mDrawerHandler.sendMessage(message)
}
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
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)
}
}

80
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
View File

@@ -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<String, TrackedObject>()
/**
* kalman缓存数据
*/
private val algoCache = ConcurrentHashMap<String, KalmanFilter>()
/**
* 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<String>()
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<String, String>()
@SuppressLint("NewApi")
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
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<TrackedObject>()
// //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
}