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merge qa_yingyan_custom

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This commit is contained in:
zhongchao
2021-05-25 16:25:41 +08:00
parent 4010c27dbe 1393635e50
commit d2773ce83c
41 changed files with 3636 additions and 183 deletions
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118
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,7 +1,7 @@
package com.mogo.module.common.drawer;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import com.mogo.cloud.socket.entity.SocketDownData;
import com.mogo.commons.debug.DebugConfig;
@@ -12,9 +12,9 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.SimpleHandlerThreadPool;
import com.mogo.service.adas.entity.ADASRecognizedResult;
import com.mogo.service.adas.IMogoADASController;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
@@ -79,7 +79,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new HashMap<>();
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
List<ADASRecognizedResult> newDiffSet = new ArrayList<>();
for (ADASRecognizedResult recognizedListResult : resultList) {
@@ -91,21 +91,23 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
String uniqueKey = recognizedListResult.uuid;
IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
if (marker != null && !marker.isDestroyed()) {
updateCacheMarkerRes(marker, recognizedListResult);
renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
} else {
// 新增差集
// 新增添加进差集
newDiffSet.add(recognizedListResult);
}
}
removeUselessMarker();
removeUselessLastRecord();
// 能复用的 marker 数量
int cachedMarkerSize = mMarkersCaches.size();
// 需要新增的 marker 数量
int newDiffSetSize = newDiffSet.size();
// 能复用的数量
int size = cachedMarkerSize >= newDiffSetSize ? newDiffSetSize : cachedMarkerSize;
int size = Math.min(cachedMarkerSize, newDiffSetSize);
// 复用过期 marker
if (newDiffSetSize > 0) {
@@ -118,30 +120,17 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
ADASRecognizedResult old = mLastPositions.remove(entry.getKey());
IMogoMarker marker = entry.getValue();
if (marker == null) {
Log.d("EmArrow", "存在复用marker为空数据");
continue;
}
// 更新资源内容
// 复用，更新marker 3D资源
if (old == null || old.type != recognizedListResult.type) {
String resIdVal = null;
int resId = getModelRes(recognizedListResult.type);
resIdVal = resId + "";
String resName = mMarkerCachesResMd5Values.get(resIdVal);
if (!TextUtils.isEmpty(resName)) {
if (!TextUtils.equals(resName, marker.getMarkerResName())) {
marker.use3DResource(resName);
}
} else {
resName = marker.use3DResource(resId);
mMarkerCachesResMd5Values.put(resIdVal, resName);
}
updateCacheMarkerRes(marker, recognizedListResult);
}
renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
}
// 复用过后还需新增的 marker
for (int i = size; i < newDiffSetSize; i++) {
ADASRecognizedResult recognizedListResult = newDiffSet.get(i);
String uniqueKey = recognizedListResult.uuid;
@@ -158,6 +147,46 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
mMarkersCaches = newAdasRecognizedMarkersCaches;
}
/**
* todo 后面涉及到此类变化的数据均改动
*
* @param marker
* @param recognizedListResult
*/
private void updateCacheMarkerRes(IMogoMarker marker, ADASRecognizedResult recognizedListResult) {
String resIdVal;
int resId = getModelRes(recognizedListResult.type);
resIdVal = resId + "";
String resName = mMarkerCachesResMd5Values.get(resIdVal);
if (!TextUtils.isEmpty(resName)) {
if (!TextUtils.equals(resName, marker.getMarkerResName())) {
marker.use3DResource(resName);
}
} else {
resName = marker.use3DResource(resId);
mMarkerCachesResMd5Values.put(resIdVal, resName);
}
}
private void removeUselessLastRecord() { // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
if (mLastPositions == null || mLastPositions.isEmpty()) {
return;
}
IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime()) || adasControllerApi.getSatelliteTime().equals("0")) {
return;
}
Iterator<ADASRecognizedResult> iterator = mLastPositions.values().iterator();
Log.d("EmArrow","removeUselessLastRecord size : " + mLastPositions.size());
while (iterator.hasNext()) {
ADASRecognizedResult result = iterator.next();
long internal = result.satelliteTime - Long.parseLong(adasControllerApi.getSatelliteTime());
if (internal > 1000) {
iterator.remove();
}
}
}
private boolean isUselessValue(ADASRecognizedResult recognizedListResult) {
if (recognizedListResult == null) {
return true;
@@ -174,7 +203,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
/**
* 绘制某个物体的一个数据
* 绘制某个物体的一个数据 todo 缓存问题
*
* @param recognizedListResult
* @param newAdasRecognizedMarkersCaches
@@ -185,22 +214,21 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
final long start = System.currentTimeMillis();
ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
double lastLon = -1;
double lastLat = -1;
if (lastPosition != null) {
lastLon = lastPosition.lon;
lastLat = lastPosition.lat;
}
double[] matchLonLat = getMatchLonLat(recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat);
recognizedListResult.lon = matchLonLat[0];
recognizedListResult.lat = matchLonLat[1];
Log.d("EmArrow", "renderAdasOneFrame uuid : " + uniqueKey + " type : " + recognizedListResult.type);
ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey); //todo 缓存数据太多
// double lastLon = -1;
// double lastLat = -1;
// if (lastPosition != null) {
// lastLon = lastPosition.lon;
// lastLat = lastPosition.lat;
// }
// double[] matchLonLat = getMatchLonLat(recognizedListResult.uuid, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading, lastLon, lastLat);
//
// recognizedListResult.lon = matchLonLat[0];
// recognizedListResult.lat = matchLonLat[1];
mLastPositions.put(uniqueKey, recognizedListResult);
// Logger.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
// Log.d( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
if (lastPosition != null) {
long interval = computeAnimDuration(lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime);
@@ -208,9 +236,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon);
long cost = System.currentTimeMillis() - start;
final long intervalRef = interval - cost;
SimpleHandlerThreadPool.getInstance().postRender(() -> {
marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.heading, intervalRef);
});
// SimpleHandlerThreadPool.getInstance().postRender(() -> {
marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.heading, intervalRef);
// });
} else {
marker.setRotateAngle(((float) recognizedListResult.heading));
marker.setPosition(recognizedListResult.lat, recognizedListResult.lon);
@@ -222,14 +250,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
marker.setAnchorColor(carColor);
if (shouldShowSpeed(recognizedListResult.type)) {
Message msg = mRenderThreadHandler.obtainMessage();
SpeedData obj = new SpeedData();
obj.context = mContext;
obj.marker = marker;
obj.speed = recognizedListResult.speed;
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
msg.sendToTarget();
showSelfSpeed(marker, recognizedListResult.speed, recognizedListResult.uuid, recognizedListResult.type, MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
}
}
@@ -244,9 +265,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return null;
}
String resIdVal = null;
int resId = getModelRes(recognizedListResult.type);
resIdVal = resId + "";
String resIdVal = resId + "";
String carColor = recognizedListResult.color;
if (TextUtils.isEmpty(carColor)) {

125
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -20,12 +20,15 @@ import com.mogo.module.common.uploadintime.SnapshotLocationController;
import com.mogo.utils.WorkThreadHandler;
import java.util.Collection;
import java.util.HashMap;
import java.util.Iterator;
import java.util.Map;
import java.util.Random;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
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 com.mogo.realtime.entity.CloudRoadData.FROM_ADAS;
import static com.mogo.realtime.entity.CloudRoadData.FROM_MY_LOCATION;
import static java.lang.Math.PI;
public
@@ -37,35 +40,9 @@ public
*/
class BaseDrawer {
/**
* 速度显示对象
*/
public class SpeedData {
public IMogoMarker marker;
public Context context;
double speed;
public void showSpeed() {
try {
showSelfSpeed(context,
marker,
speed,
MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
} catch (Exception e) {
e.printStackTrace();
}
}
}
// 移除过期的 marker
public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
/**
* 显示速度
*/
public static final int MSG_DISPLAY_SPEED = 11;
/**
* 地图刷新频率
*/
@@ -79,20 +56,31 @@ class BaseDrawer {
/**
* 地图内部资源md5缓存，便于资源复用
*/
protected static final Map<String, String> mMarkerCachesResMd5Values = new HashMap<>();
protected static final ConcurrentHashMap<String, String> mMarkerCachesResMd5Values = new ConcurrentHashMap<>();
/**
* 上一帧数据的缓存
*/
protected Map<String, IMogoMarker> mMarkersCaches = new HashMap<>();
protected static Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
protected final Context mContext;
protected static Handler mRenderThreadHandler = null;
private TextView mSpeedView;
public BaseDrawer() {
mContext = AbsMogoApplication.getApp();
initWorkThreadHandler();
initView();
}
private void initView() {
if (mSpeedView == null) {
mSpeedView = new TextView(mContext);
mSpeedView.setSingleLine(false);
mSpeedView.setTextColor(Color.WHITE);
mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
}
}
private static Handler mWorkThreadHandler;
@@ -124,32 +112,6 @@ class BaseDrawer {
}
};
}
if (mRenderThreadHandler == null) {
mRenderThreadHandler = new Handler(WorkThreadHandler.newInstance("render-thread-" + new Random().nextLong()).getLooper()) {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
if (msg.what == MSG_DISPLAY_SPEED) {
if (msg.obj instanceof SpeedData) {
showSpeed((SpeedData) msg.obj);
}
}
}
};
}
}
/**
* 显示速度
*
* @param data {@link SpeedData}
*/
private static void showSpeed(SpeedData data) {
if (data == null) {
return;
}
data.showSpeed();
}
/**
@@ -166,6 +128,7 @@ class BaseDrawer {
iterator.remove();
}
}
}
/**
@@ -208,8 +171,7 @@ class BaseDrawer {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
return recognizedType != AdasRecognizedType.classIdBicycle
&& recognizedType != AdasRecognizedType.classIdMoto
&& recognizedType != AdasRecognizedType.classIdPerson
&& recognizedType != AdasRecognizedType.classIdUnKnow; //todo unKnow物体不绘制车速
&& recognizedType != AdasRecognizedType.classIdPerson;
}
/**
@@ -222,7 +184,7 @@ class BaseDrawer {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
if (recognizedType == AdasRecognizedType.classIdCar
|| recognizedType == AdasRecognizedType.classIdTrafficTruck) {
return R.raw.othercar;
return R.raw.othercar; //todo otherCar be replacing tache for now to test,remember to fix
} else if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
return R.raw.bus;
} else if (recognizedType == AdasRecognizedType.classIdBicycle
@@ -233,7 +195,7 @@ class BaseDrawer {
} else if (recognizedType == AdasRecognizedType.classIdWarningArrows) {
return R.raw.arraw;
} else if (recognizedType == AdasRecognizedType.classIdUnKnow) { //todo unKnow物体3D模型
return R.raw.othercar;
return R.raw.tache;
}
return R.raw.people;
}
@@ -252,8 +214,8 @@ class BaseDrawer {
if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
return "#D8D8D8FF";
}
if (recognizedType == AdasRecognizedType.classIdUnKnow){ //todo unKnow颜色绘制
return "#FF2894FF";
if (recognizedType == AdasRecognizedType.classIdUnKnow) { //todo unKnow颜色绘制
return Car3DModelColor.Normal.color;
}
// 距离策略
double[] coordinates = getCurCoordinates();
@@ -328,17 +290,15 @@ class BaseDrawer {
}
}
private TextView mSpeedView = null;
/**
* 展示车辆速度
*
* @param context 上下文
* @param mogoMarker {@link IMogoMarker}
* @param speed 是否显示速度
* @param isVrMode 是否是vrMode
*/
public void showSelfSpeed(Context context, IMogoMarker mogoMarker, double speed, boolean isVrMode) {
public void showSelfSpeed(IMogoMarker mogoMarker, double speed, String uuid, int type, boolean isVrMode) {
Log.d("EmArrow", "showSelf uuid : " + uuid + " speed : " + speed);
if (mogoMarker == null || mogoMarker.isDestroyed()) {
return;
}
@@ -347,26 +307,14 @@ class BaseDrawer {
return;
}
int speedIntVal = (int) (speed * 3.6);
if (speedIntVal <= 0) {
if (speedIntVal <= 0) { //速度为0 隐藏InfoWindow
mogoMarker.hideInfoWindow();
return;
}
String speedVal = speedIntVal + "";
String infoResName = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().getMarkerInfoResName(speedVal);
mogoMarker.setInfoWindowOffset(0, 20);
if (TextUtils.isEmpty(infoResName)) {
if (mSpeedView == null) {
mSpeedView = new TextView(context);
mSpeedView.setTextColor(Color.WHITE);
mSpeedView.setTypeface(Typeface.defaultFromStyle(Typeface.BOLD));
mSpeedView.setLayoutParams(new ViewGroup.LayoutParams(ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT));
}
mSpeedView.setText(speedVal);
mogoMarker.updateInfoWindowView(mSpeedView);
MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().setMarkerInfoResName(speedVal, mogoMarker.getMarkerInfoResName());
} else {
mogoMarker.updateInfoWindowView(infoResName);
}
String text = speedIntVal + "\n" + uuid + "\n" + type;
mSpeedView.setText(text);
mogoMarker.updateInfoWindowView(mSpeedView);
}
/**
@@ -506,4 +454,15 @@ class BaseDrawer {
return new double[]{lon, lat};
}
protected String getDataTypes(int fromType) {
switch (fromType) {
case FROM_MY_LOCATION:
return TYPE_MARKER_CLOUD_DATA;
case FROM_ADAS:
return TYPE_MARKER_ADAS;
default:
return TYPE_MARKER_CLOUD_DATA;
}
}
}

29
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -1,6 +1,5 @@
package com.mogo.module.common.drawer;
import android.os.Message;
import android.text.TextUtils;
import android.view.LayoutInflater;
import android.view.View;
@@ -17,7 +16,6 @@ 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.utils.SimpleHandlerThreadPool;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
import com.mogo.service.statusmanager.StatusDescriptor;
import com.mogo.utils.ViewUtils;
@@ -26,7 +24,6 @@ import com.zhidao.carchattingprovider.ICarsChattingProvider;
import com.zhidao.carchattingprovider.MogoDriverInfo;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
@@ -88,7 +85,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
Logger.d(TAG, "%s - %s", descriptor, isTrue);
mChangeCarModeStatus = true;
sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
mMarkersCaches = new HashMap<>();
mMarkersCaches = new ConcurrentHashMap<>();
mLastPositions.clear();
AdasRecognizedResultDrawer.getInstance().notifyVrModeChanged(); //清除ADAS old marker data
}
@@ -135,7 +132,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
/**
* mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
* 绘制来自云端的 mogo 他车、mogo 他车识别的社会车辆、路边单元识别的车辆
*
* @param data 自车周边数据
*/
@@ -148,7 +145,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
List<SocketDownData.CloudRoadDataProto> allDatumsList = new ArrayList<>();
prepareData(data.getAllListList(), allDatumsList);
Map<String, IMogoMarker> newMarkersCaches = new HashMap<>(allDatumsList.size());
Map<String, IMogoMarker> newMarkersCaches = new ConcurrentHashMap<>(allDatumsList.size());
List<SocketDownData.CloudRoadDataProto> newDiffSet = new ArrayList<>();
for (SocketDownData.CloudRoadDataProto cloudRoadData : allDatumsList) {
@@ -281,25 +278,14 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
final MogoLatLng point = new MogoLatLng(cloudRoadData.getWgslat(), cloudRoadData.getWgslon());
long cost = System.currentTimeMillis() - start;
final long intervalRef = interval - cost;
SocketDownData.CloudRoadDataProto finalCloudRoadData = cloudRoadData;
SimpleHandlerThreadPool.getInstance().postRender(() -> marker.addDynamicAnchorPosition(point, (float) finalCloudRoadData.getHeading(), intervalRef));
marker.addDynamicAnchorPosition(point, (float) cloudRoadData.getHeading(), intervalRef);
} else {
marker.setRotateAngle(((float) cloudRoadData.getHeading()));
marker.setPosition(cloudRoadData.getWgslat(), cloudRoadData.getWgslon());
}
marker.setAnchorColor(getModelRenderColor(cloudRoadData.getType(), cloudRoadData.getSpeed(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading()));
if (shouldShowSpeed(cloudRoadData.getType())) {
Message msg = mRenderThreadHandler.obtainMessage();
SpeedData obj = new SpeedData();
obj.context = mContext;
obj.marker = marker;
obj.speed = cloudRoadData.getSpeed();
msg.obj = obj;
msg.what = MSG_DISPLAY_SPEED;
msg.sendToTarget();
showSelfSpeed(marker, cloudRoadData.getSpeed(), cloudRoadData.getUuid(), cloudRoadData.getType(), MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
}
}
@@ -316,6 +302,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
/**
* vr 模式下显示合并数据，否则只显示 mogo 车辆上报的数据
* 展示融合数据，不包括自车定位数据和adas识别数据
*
* @param data 道路数据集合
*/
@@ -359,7 +346,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
MogoMarkerOptions options = new MogoMarkerOptions()
.owner(DataTypes.TYPE_MARKER_CLOUD_DATA)
.owner(getDataTypes(data.getFromType()))
.anchor(0.5f, 0.5f)
.rotate((float) data.getHeading())
.object(data)
@@ -380,7 +367,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
options.icon(view);
resIdVal = view.getId() + "";
}
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_CLOUD_DATA, options);
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(getDataTypes(data.getFromType()), options);
cacheMarkerIconResMd5Val(resIdVal, marker);
if (!TextUtils.isEmpty(data.getSn())) {