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This commit is contained in:
zhongchao
2021-07-22 17:17:00 +08:00
parent eb326bdc96
commit cc1d77ffbd
4 changed files with 42 additions and 66 deletions
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5
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -76,7 +76,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 渲染 adas 识别的数据
*
* @param resultList
* @param resultList adas感知融合数据
*/
public void renderAdasRecognizedResult(List<ADASRecognizedResult> resultList) {
final long start = System.nanoTime();
@@ -114,7 +114,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
removeUselessMarker(mMarkersCaches);
removeUselessLastRecord();
Log.d("ADAS数据延时绘制", "查找缓存绘制 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
int newDiffSetSize = newDiffSet.size();
// Log.d(TAG, "原数据量 ： " + resultList.size() + " 新增marker数量 ： " + newDiffSetSize);
// 复用过期 marker
@@ -232,7 +231,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if (recognizedListResult == null) {
return true;
}
if (!isRenderType(recognizedListResult.type)) {
if (nonRenderType(recognizedListResult.type)) {
return true;
}
String uniqueKey = recognizedListResult.uuid;

27
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -1,5 +1,7 @@
package com.mogo.module.common.drawer;
import static java.lang.Math.PI;
import android.content.Context;
import android.graphics.Color;
import android.graphics.Typeface;
@@ -15,8 +17,8 @@ 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.drawer.bean.SpeedData;
import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
import com.mogo.module.common.drawer.bean.SpeedData;
import com.mogo.utils.WorkThreadHandler;
import java.util.Collection;
@@ -26,12 +28,6 @@ import java.util.Random;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_MY_LOCATION;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_ADAS;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_DATA;
import static java.lang.Math.PI;
public
/*
* @author congtaowang
@@ -176,15 +172,15 @@ class BaseDrawer {
* @param type {@link AdasRecognizedType}
* @return render
*/
public boolean isRenderType(int type) {
public boolean nonRenderType(int type) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
return recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdMoto
|| recognizedType == AdasRecognizedType.classIdBicycle
|| recognizedType == AdasRecognizedType.classIdPerson
|| recognizedType == AdasRecognizedType.classIdTrafficBus
|| recognizedType == AdasRecognizedType.classIdTrafficTruck
|| recognizedType == AdasRecognizedType.classIdUnKnow;
return recognizedType != AdasRecognizedType.classIdCar
&& recognizedType != AdasRecognizedType.classIdMoto
&& recognizedType != AdasRecognizedType.classIdBicycle
&& recognizedType != AdasRecognizedType.classIdPerson
&& recognizedType != AdasRecognizedType.classIdTrafficBus
&& recognizedType != AdasRecognizedType.classIdTrafficTruck
&& recognizedType != AdasRecognizedType.classIdUnKnow;
}
/**
@@ -324,7 +320,6 @@ class BaseDrawer {
* @param isVrMode 是否是vrMode
*/
public static void showSelfSpeed(IMogoMarker mogoMarker, double speed, String uuid, int type, double heading, boolean isVrMode) {
Log.d("EmArrow", "showSelf uuid : " + uuid + " speed : " + speed);
if (mogoMarker == null || mogoMarker.isDestroyed()) {
return;
}

70
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -3,7 +3,6 @@ package com.mogo.module.common.drawer;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_DATA;
import android.os.Build;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import android.view.LayoutInflater;
@@ -22,7 +21,6 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.api.CallChatApi;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.drawer.bean.SpeedData;
import com.mogo.module.common.utils.Trigonometric;
import com.mogo.service.adas.IMogoADASController;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
@@ -75,20 +73,13 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
sInstance = null;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return sInstance;
}
/**
* 上一帧数据的缓存
*/
private static Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
private static final Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
private final Map<String, SocketDownData.CloudRoadDataProto> mLastPositions = new ConcurrentHashMap<>();
private boolean mIsVrMode = false;
/**
* 注册StatusDescriptor.VR_MODE类型，VR_MODE状态改变回调
*
@@ -105,10 +96,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged(); //清除ADAS old marker data
}
public boolean isVrMode() {
return mIsVrMode;
}
public boolean isChangeCarModeStatus() {
return mChangeCarModeStatus;
}
@@ -152,7 +139,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
* @param data 自车周边数据
*/
public void renderSnapshotData(SocketDownData.LauncherSnapshotProto data) {
final long start = System.nanoTime();
if (clear(data)) {
return;
}
@@ -180,8 +167,6 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
newDiffSet.add(cloudRoadData);
}
}
delayRemoveUselessMarker();
removeUselessLastRecord();
// 需要新增的 marker 数量
int newDiffSetSize = newDiffSet.size();
// 复用过期 marker
@@ -194,12 +179,14 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
if (marker == null) {
continue;
}
Log.d("云端融合数据", "新增marker id : " + uniqueKey);
renderSnapshotOneFrame(marker, uniqueKey, cloudRoadData, newMarkersCaches);
}
}
// sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
mMarkersCaches.putAll(newMarkersCaches);
// 移除超时 marker
delayRemoveUselessMarker();
removeUselessLastRecord();
Log.d("云端数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
}
/**
@@ -235,14 +222,16 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
while (iterator.hasNext()) {
IMogoMarker result = iterator.next();
SocketDownData.CloudRoadDataProto proto = ((SocketDownData.CloudRoadDataProto) result.getObject());
if(proto == null){ // 后续有业务数据在操作，更新数据，不做处理
continue;
}
long internal = Long.parseLong(adasControllerApi.getSatelliteTime()) - proto.getSatelliteTime();
Log.d("EmArrow", "delayRemoveUselessMarker uuid : " + proto.getUuid()
+ " adasTime : " + adasControllerApi.getSatelliteTime()
+ " protoTime : " + proto.getSatelliteTime()
Log.d("MogoArrow", "delayRemoveUselessMarker uuid : " + proto.getUuid()
+ " localTime : " + adasControllerApi.getSatelliteTime()
+ " originTime : " + proto.getSatelliteTime()
+ " internal : " + internal);
if (internal > 2000) {
if (internal > 5000) {
iterator.remove();
result.remove();
result.destroy();
}
}
@@ -277,7 +266,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
if (cloudRoadData == null) {
return true;
}
if (!isRenderType(cloudRoadData.getType())) {
if (nonRenderType(cloudRoadData.getType())) {
return true;
}
@@ -292,10 +281,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
* @param newSnapshotCaches 缓存数据
*/
private void renderSnapshotOneFrame(IMogoMarker marker, String uniqueKey, SocketDownData.CloudRoadDataProto cloudRoadData, Map<String, IMogoMarker> newSnapshotCaches) {
Log.d("云端融合数据", " uuid : " + uniqueKey + " type : " + cloudRoadData.getType() + " fromType : " + cloudRoadData.getFromType());
final long start = System.nanoTime();
SocketDownData.CloudRoadDataProto lastPosition = mLastPositions.remove(uniqueKey);
// 道路吸附
// double lastLon = -1;
@@ -318,22 +304,21 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
final MogoLatLng point = new MogoLatLng(cloudRoadData.getWgslat(), cloudRoadData.getWgslon());
long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
final long intervalRef = interval - cost;
Log.d("云端动画数据", "最终赋值 : " + intervalRef + " 两帧间隔 : " + interval + " uuid : " + cloudRoadData.getUuid());
marker.addDynamicAnchorPosition(point, (float) cloudRoadData.getHeading(), intervalRef);
marker.setAnchorColor(getModelRenderColor(cloudRoadData.getType(), cloudRoadData.getFromType(), cloudRoadData.getSpeed(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading()));
newSnapshotCaches.put(uniqueKey, marker);
if (shouldShowSpeed(cloudRoadData.getType())) {
Message msg = mRenderThreadHandler.obtainMessage();
msg.obj = new SpeedData(marker
, cloudRoadData.getSpeed()
, cloudRoadData.getUuid()
, cloudRoadData.getType()
, cloudRoadData.getHeading()
, MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
msg.what = MSG_DISPLAY_SPEED;
msg.sendToTarget();
}
// if (shouldShowSpeed(cloudRoadData.getType())) {
// Message msg = mRenderThreadHandler.obtainMessage();
// msg.obj = new SpeedData(marker
// , cloudRoadData.getSpeed()
// , cloudRoadData.getUuid()
// , cloudRoadData.getType()
// , cloudRoadData.getHeading()
// , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
// msg.what = MSG_DISPLAY_SPEED;
// msg.sendToTarget();
// }
Log.d("云端数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
}
/**
@@ -407,6 +392,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
* @return {@link IMogoMarker}
*/
public IMogoMarker drawSnapshotDataMarker(SocketDownData.CloudRoadDataProto data) {
long start = System.nanoTime();
if (data == null) {
return null;
}
@@ -439,7 +425,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
if (!TextUtils.isEmpty(data.getSn())) {
bindClickListener(marker);
}
Log.d("云端数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
return marker;
}

6
modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
View File

@@ -2,8 +2,6 @@ package com.mogo.module.service.marker;
import android.content.Context;
import android.graphics.Rect;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import com.mogo.cloud.socket.entity.SocketDownData;
@@ -38,13 +36,11 @@ import com.mogo.module.service.network.RefreshModel;
import com.mogo.realtime.api.MoGoAiCloudRealTime;
import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
import com.mogo.service.adas.IMogoADASControlStatusChangedListener;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.module.IMogoBizActionDoneListener;
import com.mogo.utils.ResourcesHelper;
import com.mogo.utils.ThreadPoolService;
import com.mogo.utils.UiThreadHandler;
import com.mogo.utils.ViewUtils;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import com.zhidao.carchattingprovider.ICallChatResponse;
@@ -148,7 +144,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
@Override
public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
DebugConfig.setStatus(DebugConfig.sDownloadSnapshot, true);
//SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData);
// SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData);
// Message msg = mSnapshotHandler.obtainMessage();
// msg.obj = mogoSnapshotSetData;
// msg.what = MSG_SNAPSHOT;