From cc1d77ffbd1db014d0cc15280aec846d1b550d51 Mon Sep 17 00:00:00 2001 From: zhongchao Date: Thu, 22 Jul 2021 17:17:00 +0800 Subject: [PATCH] merge --- .../drawer/AdasRecognizedResultDrawer.java | 5 +- .../mogo/module/common/drawer/BaseDrawer.java | 27 +++---- .../common/drawer/SnapshotSetDataDrawer.java | 70 ++++++++----------- .../service/marker/MapMarkerManager.java | 6 +- 4 files changed, 42 insertions(+), 66 deletions(-) diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index a33f05b20c..5672ae3d61 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -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 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; diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java index 6bfb2e1f62..c22e80931d 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java @@ -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; } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java index eabe5b7281..c458afd639 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java @@ -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 mMarkersCaches = new ConcurrentHashMap<>(); + private static final Map mMarkersCaches = new ConcurrentHashMap<>(); private final Map 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 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; } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java index cb46f5ad60..25cb32c45a 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java @@ -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;