yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[646] feat: 修改全局轨迹展示逻辑，提供对外调用接口；

Browse Source
This commit is contained in:
aibingbing
2024-06-25 17:38:33 +08:00
parent 1ffcee57f2
commit cb9df53129
8 changed files with 177 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java
View File

@@ -1,12 +1,14 @@
package com.mogo.eagle.core.function.business.trajectoryoverlay;
import android.util.Pair;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -26,10 +28,9 @@ public class MogoTrajectoryOverlayManager implements
private MogoTrajectoryOverlayManager() {
}
public void init() {
CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, this);
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 1,this);
CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 1, this);
}
public static MogoTrajectoryOverlayManager getInstance() {
@@ -45,7 +46,7 @@ public class MogoTrajectoryOverlayManager implements
@Override
public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) {
CallerLogger.i(TAG, "onAutopilotRotting size="+globalPathResp.getWayPointsList().size());
CallerLogger.i(TAG, "onAutopilotRotting size=" + globalPathResp.getWayPointsList().size());
if (globalPathResp != null) {
synchronized (queue) {
queue.clear();
@@ -59,8 +60,8 @@ public class MogoTrajectoryOverlayManager implements
if (gnssInfo == null) {
return;
}
int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState();
boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation();
// int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState();
// boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation();
// Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
// if (isArriveAtStation && autoPilotState != 2) {
// RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
@@ -73,13 +74,25 @@ public class MogoTrajectoryOverlayManager implements
// return;
// }
// Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");
}
public Pair<Boolean, String> drawTrajectoryOverlayOnce() {
Pair result = new Pair(false, "全局轨迹未就绪或为空");
synchronized (queue) {
if (!queue.isEmpty()) {
List<MessagePad.Location> items = queue.pollLast();
if (items != null && !items.isEmpty()) {
TrajectoryOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading());
double heading = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getHeading();
TrajectoryOverlayDrawer.getInstance().drawTrajectoryList(items, heading);
return new Pair<Boolean, String>(true, "success");
}
}
return result;
}
}
public void clearTrajectoryOverlay() {
TrajectoryOverlayDrawer.getInstance().clearMogoTrajectoryOverlay();
}
}

37
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt Normal file
View File

@@ -0,0 +1,37 @@
package com.mogo.eagle.core.function.business.trajectoryoverlay
import android.content.Context
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.map.trajectory.IMoGoGlobalTrajectoryDrawListener
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import java.util.concurrent.atomic.AtomicReference
@Route(path = MogoServicePaths.PATH_MAP_GLOBAL_TRAJECTORY)
class MogoTrajectoryOverlayProvider : IMoGoGlobalTrajectoryDrawListener {
companion object {
private const val TAG = "MogoTrajectoryOverlayProvider"
}
private var hasDrawn = AtomicReference<Boolean>(false)
override fun init(context: Context?) {
CallerLogger.i(TAG, "---init---")
}
override fun hasDrawnGlobalTrajectory(): Boolean {
return hasDrawn.get()
}
override fun drawGlobalTrajectory(): Pair<Boolean, String> {
val result = MogoTrajectoryOverlayManager.getInstance().drawTrajectoryOverlayOnce()
hasDrawn.set(result.first)
return Pair(result.first, result.second)
}
override fun clearGlobalTrajectory() {
MogoTrajectoryOverlayManager.getInstance().clearTrajectoryOverlay()
hasDrawn.set(false)
}
}

95
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java
View File

@@ -11,7 +11,6 @@ import android.util.Log;
import androidx.core.util.Pools;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.overlay.IMoGoOverlayManager;
@@ -37,7 +36,7 @@ public class TrajectoryOverlayDrawer {
private static final byte[] obj = new byte[0];
private Polyline.Options mPolylineOptions;
private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5");
private static final int mPolylineWidth = 50;
//用于taxi乘客屏渐变颜色集合
private static List<Integer> colors = null;
@@ -48,7 +47,7 @@ public class TrajectoryOverlayDrawer {
if (mogoOverlayManager != null) {
mPolylineOptions = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE)
.setUseGps(true)
.setWidth(30)
.setWidth(mPolylineWidth)
.setIsGradient(true)
.build();
@@ -86,10 +85,8 @@ public class TrajectoryOverlayDrawer {
private class RenderTask implements Runnable {
private volatile List<MessagePad.Location> routeList;
private final Pools.Pool<MogoLatLng> pools;
private final LinkedList<MogoLatLng> points;
private double bearing;
public RenderTask() {
@@ -120,8 +117,8 @@ public class TrajectoryOverlayDrawer {
isExcept = true;
return;
}
// boolean isColorfulStrategy = !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
//TODO
//boolean isColorfulStrategy = !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
//全局轨迹线 没有颜色策略，使用固定颜色
boolean isColorfulStrategy = false;
if (isColorfulStrategy) {
TrajectoryStrategy.INSTANCE.start();
@@ -132,15 +129,15 @@ public class TrajectoryOverlayDrawer {
// temps.add(new Pair<>(10, 102));
// temps.add(new Pair<>(30, 51));
// temps.add(new Pair<>(100, 0));
temps.add(new Pair<>(0, 51));
temps.add(new Pair<>(10, 51));
temps.add(new Pair<>(30, 51));
temps.add(new Pair<>(100, 51));
temps.add(new Pair<>(0, 100));
temps.add(new Pair<>(10, 100));
temps.add(new Pair<>(30, 100));
temps.add(new Pair<>(100, 100));
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
colors = new ArrayList<>();
for (int i : alphas) {
colors.add(Color.argb(i, 48,203,251));
colors.add(Color.argb(i, 78,121,173));
}
}
}
@@ -168,41 +165,36 @@ public class TrajectoryOverlayDrawer {
acquire.lon = longitude;
acquire.lat = latitude;
}
// acquire.acc = route.getAcceleration();
// acquire.speed = route.getVelocity();
pps.add(acquire);
// if (isColorfulStrategy) {
//// RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration(), routeList.size());
// }
}
double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
// double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
// double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
if (points.size() > 0) {
MogoLatLng top = null;
while (points.size() != 0) {
MogoLatLng first = points.peek();
if (first == null) {
continue;
}
if (first == top) {
break;
}
lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
if (angle >= 90) {
if (isColorfulStrategy) {
TrajectoryStrategy.INSTANCE.remove(first.acc);
}
pools.release(first);
points.poll();
}
top = first;
}
if (points.size() == 0) {
isExcept = true;
return;
}
// MogoLatLng top = null;
// while (points.size() != 0) {
// MogoLatLng first = points.peek();
// if (first == null) {
// continue;
// }
// if (first == top) {
// break;
// }
// lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
// lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
// long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
// if (angle >= 90) {
// if (isColorfulStrategy) {
// TrajectoryStrategy.INSTANCE.remove(first.acc);
// }
// pools.release(first);
// points.poll();
// }
// top = first;
// }
// if (points.size() == 0) {
// isExcept = true;
// return;
// }
// MogoLatLng self = pools.acquire();
// if (self == null) {
// self = new MogoLatLng(lat, lon);
@@ -216,8 +208,8 @@ public class TrajectoryOverlayDrawer {
if (mPolylineOptions == null) {
builder = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE)
.setUseGps(true)
.setWidth(20)
.setIsGradient(true);
.setWidth(mPolylineWidth)
.setIsGradient(false);
} else {
builder = mPolylineOptions.builder();
}
@@ -229,16 +221,15 @@ public class TrajectoryOverlayDrawer {
boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn();
builder.colors(colors);
builder.setLightOn(isLightOn);
builder.setLightColor(COLOR_LIGHT);
builder.setLightSpeed(0.3f);
//builder.setLightColor(COLOR_LIGHT);
//builder.setLightSpeed(0.3f);
} else {
if (colors != null && !colors.isEmpty()) {
builder.colors(colors);
builder.setIsGradient(true);
// builder.setLightOn(true);
builder.setLightOn(false);
builder.setLightColor(COLOR_LIGHT);
builder.setLightSpeed(0.3f);
//builder.setLightColor(COLOR_LIGHT);
//builder.setLightSpeed(0.3f);
}
}
builder.points(points);
@@ -289,7 +280,7 @@ public class TrajectoryOverlayDrawer {
}
}
public void setVisible(boolean isVisible) {
private void setVisible(boolean isVisible) {
if (mogoOverlayManager != null) {
if (isVisible) {
mogoOverlayManager.showAllLinesInLevel(Level.TRAJECTORY_LINE);

13
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt
View File

@@ -4,11 +4,12 @@ import android.animation.ArgbEvaluator
import android.graphics.Color
import android.view.animation.AccelerateInterpolator
import com.mogo.eagle.core.data.config.HmiBuildConfig
import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE
import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE_DARK
import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_RED_DARK
import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_TRANSPARENT
import java.util.*
import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_BLUE
import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_BLUE_DARK
import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_RED_DARK
import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_TRANSPARENT
import java.util.NavigableMap
import java.util.TreeMap
import kotlin.properties.Delegates
@@ -21,7 +22,7 @@ class Colors {
companion object {
val COLOR_BLUE = Color.parseColor("#FF2ABAD9")
val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF")
val COLOR_RED_DARK = Color.parseColor("#FFFF5F00")
val COLOR_RED_DARK = Color.parseColor("#FF0FF5F0")
val COLOR_TRANSPARENT = Color.parseColor("#002ABAD9")
}
}

3
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
View File

@@ -103,6 +103,9 @@ public class MogoServicePaths {
@Keep
public static final String PATH_VISUAL_ANGLE = "/map/angle_change";
@Keep
public static final String PATH_MAP_GLOBAL_TRAJECTORY = "/map/global_trajectory";
@Keep
public static final String PATH_PATCH_UPGRADE = "/patch/api";

22
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt Normal file
View File

@@ -0,0 +1,22 @@
package com.mogo.eagle.core.function.api.map.trajectory
import com.alibaba.android.arouter.facade.template.IProvider
interface IMoGoGlobalTrajectoryDrawListener : IProvider {
/**
* 是否已经在高精地图绘制了全局轨迹
*/
fun hasDrawnGlobalTrajectory(): Boolean
/**
* 在高精地图绘制全局规划
* @return boolean-是否绘制成功, string-绘制结果原因
*/
fun drawGlobalTrajectory(): Pair<Boolean, String>
/**
* 清除高精地图中的全局轨迹
*/
fun clearGlobalTrajectory()
}

44
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt Normal file
View File

@@ -0,0 +1,44 @@
package com.mogo.eagle.core.function.call.map
import com.alibaba.android.arouter.launcher.ARouter
import com.mogo.eagle.core.data.constants.MogoServicePaths
import com.mogo.eagle.core.function.api.map.trajectory.IMoGoGlobalTrajectoryDrawListener
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
object CallerMapGlobalTrajectoryDrawManager {
private val provider by lazy {
ARouter.getInstance().build(MogoServicePaths.PATH_MAP_GLOBAL_TRAJECTORY)
.navigation() as? IMoGoGlobalTrajectoryDrawListener
}
fun init() {
provider?.let {
CallerLogger.i("CallerMapGlobalTrajectoryDrawManager", "--- init ---")
}
}
/**
* 是否已经在高精地图绘制了全局轨迹
*/
fun hasDrawnGlobalTrajectory(): Boolean {
return provider?.hasDrawnGlobalTrajectory() ?: false
}
/**
* 在高精地图绘制全局规划
* @return boolean-是否绘制成功, string-未绘制原因
*/
fun drawGlobalTrajectory(): Pair<Boolean, String> {
return provider?.drawGlobalTrajectory() ?: Pair(false, "provider=null")
}
/**
* 清除高精地图中的全局轨迹
*/
fun clearGlobalTrajectory() {
provider?.clearGlobalTrajectory()
}
}

2
libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt
View File

@@ -18,7 +18,7 @@ enum class Level(val zIndex: Int) {
/**
* 全局轨迹线
*/
TRAJECTORY_LINE(74000),
TRAJECTORY_LINE(65000),
/**
* 前车引导线