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fix bug of model and add func obu track

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This commit is contained in:
zhongchao
2022-08-25 11:58:30 +08:00
parent 6b3881ce60
commit d2c11480be
13 changed files with 302 additions and 113 deletions
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7
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt
View File

@@ -1,13 +1,18 @@
package com.mogo.eagle.core.function.map.identify
import com.mogo.eagle.core.data.traffic.TrafficData
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
interface Identify {
fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
}
fun clearOldMarker()
}

8
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.map.identify
import android.annotation.SuppressLint
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
import com.mogo.map.MogoMarkerManager
import com.mogo.module.common.MogoApisHandler
@@ -21,6 +22,10 @@ class IdentifyBeautifyDataDrawer : Identify {
TrackManager.getInstance().renderPlanningWarningObj(planningObjects)
}
override fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
TrackManager.getInstance().renderOBUWarningObj(exist, obuTrafficData)
}
/**
* 渲染 adas 识别的数据
*
@@ -56,4 +61,5 @@ class IdentifyBeautifyDataDrawer : Identify {
TrackManager.getInstance().clearAll()
}
}
}

38
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
View File

@@ -3,11 +3,17 @@ 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.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
object IdentifyFactory : Identify {
object IdentifyFactory : Identify, IMoGoObuStatusListener {
private const val TAG = "IdentifyFactory"
object DriverIdentify {
internal val originDataDrawer = IdentifyOriginDataDrawer()
}
@@ -24,11 +30,14 @@ object IdentifyFactory : Identify {
} else {
DriverIdentify.originDataDrawer
}
CallerObuListenerManager.addListener(TAG, this)
}
private const val MSG_DATA_TRACK = 0
private const val MSG_DATA_WARNING = 1
private const val MSG_DATA_CLEAR = 2
private const val MSG_DATA_OBU_WARNING_UPDATE = 2
private const val MSG_DATA_OBU_WARNING_REMOVE = 3
private const val MSG_DATA_CLEAR = 4
// 维护一个线程定时轮询数据进行地图绘制
private val mDrawerHandler: Handler =
@@ -59,6 +68,16 @@ object IdentifyFactory : Identify {
identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
}
}
MSG_DATA_OBU_WARNING_UPDATE -> {
if (msg.obj is TrafficData) {
identify!!.renderOBUWarningObj(true, msg.obj as TrafficData)
}
}
MSG_DATA_OBU_WARNING_REMOVE -> {
if (msg.obj is TrafficData) {
identify!!.renderOBUWarningObj(false, msg.obj as TrafficData)
}
}
MSG_DATA_CLEAR -> {
identify!!.clearOldMarker()
}
@@ -86,4 +105,19 @@ object IdentifyFactory : Identify {
mDrawerHandler.sendMessage(message)
}
override fun updateTrackerWarningInfo(trafficData: TrafficData) {
super.updateTrackerWarningInfo(trafficData)
val message = Message.obtain()
message.what = MSG_DATA_OBU_WARNING_UPDATE
message.obj = trafficData
mDrawerHandler.sendMessage(message)
}
override fun removeTrackerWarningInfo(trafficData: TrafficData) {
super.removeTrackerWarningInfo(trafficData)
val message = Message.obtain()
message.what = MSG_DATA_OBU_WARNING_REMOVE
message.obj = trafficData
mDrawerHandler.sendMessage(message)
}
}

57
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
View File

@@ -8,6 +8,8 @@ import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.traffic.threatLevelColor
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
@@ -56,11 +58,16 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
/**
* planning 感知物预警缓存，用于重置color状态
*/
private val colorTrafficData = ConcurrentHashMap<String, PlanningTrack>()
private val pncWarningTrafficData = ConcurrentHashMap<String, PlanningTrack>()
/**
* obu 感知物预警缓存，用于重置color状态
*/
private val obuWarningTrafficData = ConcurrentHashMap<String, TrafficData>()
@SuppressLint("NewApi")
override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
colorTrafficData.clear()
pncWarningTrafficData.clear()
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || mAutopilotStatus == 2) {
if (planningObjects == null) {
return
@@ -72,7 +79,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
if (planningObj.type == 0) {
//0是leading障碍物，障碍物车身红色提示
trackObj?.let {
colorTrafficData[trackId] = PlanningTrack(
pncWarningTrafficData[trackId] = PlanningTrack(
"#D65D5AFF",
CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
)
@@ -80,7 +87,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
} else if (planningObj.type == 1) {
//1是避障和择机的障碍物，障碍物车身黄色提示
trackObj?.let {
colorTrafficData[trackId] = PlanningTrack(
pncWarningTrafficData[trackId] = PlanningTrack(
"#E4DD94FF",
CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
)
@@ -91,6 +98,17 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
}
}
override fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
if (obuTrafficData.uuid.isNullOrEmpty()) {
return
}
if (exist) {
obuWarningTrafficData[obuTrafficData.uuid!!] = obuTrafficData
} else {
obuWarningTrafficData.remove(obuTrafficData.uuid!!)
}
}
/**
* 渲染 adas 识别的数据
*
@@ -157,16 +175,6 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
val cacheData = mMarkersCaches[uuid]
if (cacheData != null) {
//预警颜色变化
if (colorTrafficData.containsKey(uuid)) {
val planningTrack = colorTrafficData[uuid]
if (!timeOut(planningTrack!!.time)) {
temp = data.toBuilder().setColor(planningTrack.color).build()
} else {
colorTrafficData.remove(uuid)
}
}
//OBU数据颜色标记
val first = data.trackedSourceList.stream()
.filter { trackedSource: TrackedSource -> trackedSource.source == 4 }
@@ -178,12 +186,28 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
if (subFirst.isPresent) {
val subID = subFirst.get().id
if (!TextUtils.isEmpty(subID)) {
Log.d("emarrow", "存在subsource为obu的数据")
temp = data.toBuilder().setColor("FF1493").build()
Log.d("emArrow-Test", "存在subSource为obu的数据")
temp = data.toBuilder().setColor("FF0000FF").build()
if (obuWarningTrafficData.containsKey(subID)) {
Log.d("emArrow-Test", "obu数据预警")
temp = data.toBuilder()
.setColor(obuWarningTrafficData[subID]!!.threatLevelColor())
.build()
}
}
}
}
//预警颜色变化
if (pncWarningTrafficData.containsKey(uuid)) {
val planningTrack = pncWarningTrafficData[uuid]
if (!timeOut(planningTrack!!.time)) {
temp = data.toBuilder().setColor(planningTrack.color).build()
} else {
pncWarningTrafficData.remove(uuid)
}
}
mFilterTrafficData[uuid] = temp
}
mMarkersCaches[uuid] = temp
@@ -202,6 +226,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
.removeMarker(uuid)
}
trafficDataUuidList.clear()
pncWarningTrafficData.clear()
}
override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {

24
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/ObjQueue.java
View File

@@ -4,11 +4,15 @@ public class ObjQueue {
private double heading;
private double speed;
private double lat;
private double lon;
private int type;
public ObjQueue(double heading, double speed, int type) {
public ObjQueue(double heading, double speed, double lat, double lon, int type) {
this.heading = heading;
this.speed = speed;
this.lat = lat;
this.lon = lon;
this.type = type;
}
@@ -28,6 +32,22 @@ public class ObjQueue {
this.speed = speed;
}
public double getLat() {
return lat;
}
public void setLat(double lat) {
this.lat = lat;
}
public double getLon() {
return lon;
}
public void setLon(double lon) {
this.lon = lon;
}
public int getType() {
return type;
}
@@ -41,6 +61,8 @@ public class ObjQueue {
return "ObjQueue{" +
"heading=" + heading +
", speed=" + speed +
", lat=" + lat +
", lon=" + lon +
", type=" + type +
'}';
}

63
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
View File

@@ -12,6 +12,8 @@ import com.google.common.collect.HashBiMap;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.eagle.core.data.traffic.TrafficDataKt;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
@@ -66,11 +68,16 @@ public class TrackManager {
/**
* planning 感知物预警缓存，用于重置color状态
*/
private final ConcurrentHashMap<String, PlanningTrack> colorTrafficData = new ConcurrentHashMap<>();
private final ConcurrentHashMap<String, PlanningTrack> pncWarningTrafficData = new ConcurrentHashMap<>();
/**
* obu 感知物预警缓存，用于重置color状态
*/
private final ConcurrentHashMap<String, TrafficData> obuWarningTrafficData = new ConcurrentHashMap<>();
@SuppressLint("NewApi")
public synchronized void renderPlanningWarningObj(List<MessagePad.PlanningObject> planningObjects) {
colorTrafficData.clear();
pncWarningTrafficData.clear();
//处于美化模式或者自动驾驶状态下展示
if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == 2) {
if (planningObjects == null) {
@@ -84,12 +91,12 @@ public class TrackManager {
return;
}
if (planningObj.getType() == 0) {
colorTrafficData.put(trackId, new PlanningTrack(
pncWarningTrafficData.put(trackId, new PlanningTrack(
"#D65D5AFF",
CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
));
} else if (planningObj.getType() == 1) {
colorTrafficData.put(trackId, new PlanningTrack(
pncWarningTrafficData.put(trackId, new PlanningTrack(
"#E4DD94FF",
CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
));
@@ -99,6 +106,17 @@ public class TrackManager {
}
}
public synchronized void renderOBUWarningObj(boolean exist, TrafficData obuTrafficData) {
if (obuTrafficData.getUuid() == null || obuTrafficData.getUuid().isEmpty()) {
return;
}
if (exist) {
obuWarningTrafficData.put(obuTrafficData.getUuid(), obuTrafficData);
} else {
obuWarningTrafficData.remove(obuTrafficData.getUuid());
}
}
/**
* 过滤后的数据集合
*/
@@ -114,16 +132,7 @@ public class TrackManager {
String uuid = "" + data.getUuid();
TrackObj trackObj = mMarkersCaches.get(uuid);
// 判断物体是否与预警信息
if (colorTrafficData.containsKey(uuid)) {
PlanningTrack planningTrack = colorTrafficData.get(uuid);
if (planningTrack != null && !timeOut(planningTrack.getTime())) {
data = data.toBuilder().setColor(planningTrack.getColor()).build();
} else {
colorTrafficData.remove(uuid);
}
}
//OBU数据颜色标记
Optional<MessagePad.TrackedSource> first = data.getTrackedSourceList().stream()
.filter(trackedSource -> trackedSource.getSource() == 4).findFirst();
if (first.isPresent()) {
@@ -131,12 +140,28 @@ public class TrackManager {
if (subFirst.isPresent()) {
String subID = subFirst.get().getId();
if (!TextUtils.isEmpty(subID)) {
Log.d("emarrow","存在subsource为obu的数据");
data = data.toBuilder().setColor("FF1493").build();
Log.d("emArrow-Test", "存在subSource为obu的数据");
data = data.toBuilder().setColor("FF0000FF").build();
if (obuWarningTrafficData.containsKey(subID)) {
Log.d("emArrow-Test", "obu数据预警");
data = data.toBuilder()
.setColor(TrafficDataKt.threatLevelColor(obuWarningTrafficData.get(subID)))
.build();
}
}
}
}
// 判断物体是否与预警信息
if (pncWarningTrafficData.containsKey(uuid)) {
PlanningTrack planningTrack = pncWarningTrafficData.get(uuid);
if (planningTrack != null && !timeOut(planningTrack.getTime())) {
data = data.toBuilder().setColor(planningTrack.getColor()).build();
} else {
pncWarningTrafficData.remove(uuid);
}
}
if (trackObj != null) {
trackObj.updateObj(data);
} else {
@@ -155,6 +180,9 @@ public class TrackManager {
if (cache != null) {
//相对静止物体并且非obu数据，则不改变，为感知融合同位置物体，使用缓存数据做覆盖
if (cacheTrack.relativeStatic()) {
if(data.getColor()!= null && !data.getColor().isEmpty()){
cache = cache.toBuilder().setColor(data.getColor()).build();
}
data = cache;
}
}
@@ -167,7 +195,7 @@ public class TrackManager {
trackObj = new TrackObj(data);
}
}
Log.d("0823-arrow", "uuid : " + uuid);
Log.d("emArrow-Test", "uuid : " + uuid);
mFilterTrafficData.put(uuid, trackObj.getCache());
cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
mMarkersCaches.put(uuid, trackObj);
@@ -209,6 +237,7 @@ public class TrackManager {
@SuppressLint("NewApi")
public void clearAll() {
trafficDataUuid.clear();
pncWarningTrafficData.clear();
mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
}

66
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackObj.java
View File

@@ -5,13 +5,12 @@ import static com.mogo.eagle.core.function.map.identify.TrackManager.LIMIT_SPEED
import android.annotation.SuppressLint;
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
import com.mogo.eagle.core.data.map.CenterLine;
import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
import com.mogo.eagle.core.utilcode.geometry.S2CellId;
import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
import com.mogo.map.utils.PointInterpolatorUtil;
import com.zhidaoauto.map.sdk.open.data.MapDataApi;
import java.util.Arrays;
import java.util.Comparator;
@@ -21,23 +20,23 @@ import mogo.telematics.pad.MessagePad;
public class TrackObj {
private final CircleQueue circleQueue = new CircleQueue(10);
private final CircleQueue circleQueue = new CircleQueue(6);
// private final KalmanFilter kalmanFilter; //卡尔曼结果
private S2CellId s2CellId; //s2 id权重
private S2LatLng s2LatLng; //s2 经纬度
private double recentlyTime; //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
private double roadAngle; //道路航向
private double headingDelta; //航向角德尔塔
// private double headingDelta; //航向角德尔塔
private int[] typeArray = new int[3];
private int typeWeight; //类型权重
private double lat;
private double lon;
private double speedAverage;
private CenterLine centerLineInfo = null;
// private CenterLine centerLineInfo = null;
public TrackObj(MessagePad.TrackedObject data) {
// kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005);
circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getType()));
circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
recentlyTime = data.getSatelliteTime();
lat = data.getLatitude();
lon = data.getLongitude();
@@ -47,6 +46,7 @@ public class TrackObj {
if (centerLine != null && centerLine.getAngle() != 0) {
roadAngle = centerLine.getAngle();
}
}
private MessagePad.TrackedObject cacheData;
@@ -56,7 +56,7 @@ public class TrackObj {
cacheData = data;
correct();
recentlyTime = data.getSatelliteTime();
circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), cacheData.getType()));
circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
}
private void correct() {
@@ -125,7 +125,7 @@ public class TrackObj {
// }
cacheData = cacheData.toBuilder().setLongitude(lon).setLatitude(lat).build();
} else {
centerLineInfo = null;
// centerLineInfo = null;
//不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据
//double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude());
lat = cacheData.getLatitude();
@@ -175,11 +175,26 @@ public class TrackObj {
}
public boolean relativeStatic() {
return (speedAverage < LIMIT_SPEED && cacheData.getSpeed() < LIMIT_SPEED) | isInRange() ;
if(speedAverage < LIMIT_SPEED){
Log.d("emArrow-Track","relativeStatic return" + " , uuid : " + cacheData.getUuid());
return true;
}else{
return isInRange();
}
}
private boolean isInRange(){
return s2LatLng.getDistance(S2LatLng.fromDegrees(cacheData.getLatitude(), cacheData.getLongitude())).distance(6371000) < 0.2;
private boolean isInRange() {
if (circleQueue.size() < 3) {
return false;
}
List<ObjQueue> objQueueList = circleQueue.getPreFrame();
double[] center = getCenterPoint(objQueueList);
if (center[0] == 0.0 || center[1] == 0.0) {
return false;
}
double dis = CoordinateUtils.calculateLineDistance(center[0], center[1], cacheData.getLongitude(), cacheData.getLatitude());
Log.d("emArrow-Track", "uuid : " + cacheData.getUuid() + " , list size : " + objQueueList.size() + " , dis : " + dis);
return dis < 0.2;
}
public boolean isFourWheelType() {
@@ -188,6 +203,35 @@ public class TrackObj {
&& typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
}
private double[] getCenterPoint(List<ObjQueue> objQueueList) {
int total = objQueueList.size();
double X = 0, Y = 0, Z = 0;
for (int i = 0; i < objQueueList.size() - 1; i++) {
ObjQueue objQueue = objQueueList.get(i);
if (objQueue != null) {
double lat, lon, x, y, z;
lat = objQueue.getLat() * Math.PI / 180;
lon = objQueue.getLon() * Math.PI / 180;
x = Math.cos(lat) * Math.cos(lon);
y = Math.cos(lat) * Math.sin(lon);
z = Math.sin(lat);
X += x;
Y += y;
Z += z;
}
}
X = X / total;
Y = Y / total;
Z = Z / total;
double Lon = Math.atan2(Y, X);
double Hyp = Math.sqrt(X * X + Y * Y);
double Lat = Math.atan2(Z, Hyp);
double[] d = new double[2];
d[0] = Lon * 180 / Math.PI;
d[1] = Lat * 180 / Math.PI;
return d;
}
@Override
public String toString() {
return "TrackObj{" +

10
core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
View File

@@ -359,6 +359,7 @@ class MogoPrivateObuManager private constructor() {
)
// 更新数据
TrafficDataConvertUtils.cvxRtiThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.invokeTrackerWarningInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -370,9 +371,10 @@ class MogoPrivateObuManager private constructor() {
CallerHmiManager.disableWarningV2X((appId + direction.direction).toString())
// 更新数据
TrafficDataConvertUtils.cvxRtiThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.removeTrackerWarningInfo(it)
// 事件结束，还原车辆颜色
it.threatLevel = 0x01
TrafficMarkerDrawer.updateITrafficInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
}
@@ -468,7 +470,8 @@ class MogoPrivateObuManager private constructor() {
// }
// 更新数据
TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(info)?.let {
TrafficMarkerDrawer.updateITrafficInfo(it)
CallerObuListenerManager.invokeTrackerWarningInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
// 删除
@@ -477,6 +480,7 @@ class MogoPrivateObuManager private constructor() {
CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
// 更新数据
TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.removeTrackerWarningInfo(it)
// 事件结束，还原交通参与者颜色
it.threatLevel = 0x01
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
@@ -880,6 +884,7 @@ class MogoPrivateObuManager private constructor() {
}
//更新周边车辆进行预警颜色变换，车辆实时移动和变色
TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.invokeTrackerWarningInfo(it)
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}
}
@@ -891,6 +896,7 @@ class MogoPrivateObuManager private constructor() {
CallerHmiManager.disableWarningV2X((appId + direction.direction).toString())
//更新周边车辆进行预警颜色变换，车辆实时移动和变色
TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
CallerObuListenerManager.removeTrackerWarningInfo(it)
it.threatLevel = 0x01
TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
}

17
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt
View File

@@ -2,6 +2,23 @@ package com.mogo.eagle.core.data.traffic
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
fun TrafficData.threatLevelColor():String{
return when (threatLevel) {
1 -> {
"#D8D8D8FF"
}
2 -> {
"#FFD53EFF"
}
3 -> {
"#FF3C45FF"
}
else -> {
"#D8D8D8FF"
}
}
}
/**
* @author xiaoyuzhou
* @date 2021/8/17 8:41 下午

23
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuStatusListener.kt
View File

@@ -1,6 +1,7 @@
package com.mogo.eagle.core.function.api.obu
import com.mogo.eagle.core.data.obu.ObuStatusInfo
import com.mogo.eagle.core.data.traffic.TrafficData
/**
* @author xiaoyuzhou
@@ -12,11 +13,29 @@ interface IMoGoObuStatusListener {
* 检查OBU连链接信息
* @param obuStatusInfo OBU 状态信息
*/
fun onObuStatusResponse(obuStatusInfo: ObuStatusInfo)
fun onObuStatusResponse(obuStatusInfo: ObuStatusInfo){
}
/**
* v2i时延
*/
fun onObuV2iDelayTime(delayTime: Long)
fun onObuV2iDelayTime(delayTime: Long){
}
/**
* 更新obu Tracker 预警信息
*/
fun updateTrackerWarningInfo(trafficData: TrafficData){
}
/**
* 移除obu Tracker 预警信息
*/
fun removeTrackerWarningInfo(trafficData: TrafficData){
}
}

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuListenerManager.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.obu
import androidx.annotation.Nullable
import com.mogo.eagle.core.data.obu.ObuStatusInfo
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.call.base.CallerBase
import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -105,5 +106,18 @@ object CallerObuListenerManager : CallerBase() {
}
}
fun invokeTrackerWarningInfo(trafficData: TrafficData){
mObuStatusListeners.forEach {
val listener = it.value
listener.updateTrackerWarningInfo(trafficData)
}
}
fun removeTrackerWarningInfo(trafficData: TrafficData){
mObuStatusListeners.forEach {
val listener = it.value
listener.removeTrackerWarningInfo(trafficData)
}
}
}

2
libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
View File

@@ -3,6 +3,7 @@ package com.mogo.map;
import android.annotation.SuppressLint;
import android.content.Context;
import android.graphics.Point;
import android.util.Log;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -113,6 +114,7 @@ public class AMapWrapper implements IMogoMap {
MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(trackedObject);
if (markerOptions != null) {
markerOptionsArrayList.add(markerOptions);
Log.d("emArrow-Test","batch : " + markerOptions.toString());
}
});
MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, 100, 1);

86
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
View File

@@ -8,6 +8,7 @@ import android.text.TextUtils
import com.mogo.commons.AbsMogoApplication
import com.mogo.eagle.core.data.enums.TrafficTypeEnum
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.data.traffic.threatLevelColor
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
import com.mogo.map.MogoMarkerManager
@@ -17,19 +18,19 @@ import com.mogo.module.common.constants.DataTypes
import java.util.concurrent.ConcurrentHashMap
/**
* @author xiaoyuzhou
* @date 2021/8/18 11:12 上午
* 交通元素 2D\3D绘制
* 此类用于obu/v2x预警绘制交通元素 2D\3D绘制
* obu:与其进行调试单独展示，与debugview上感知开关相关联
* v2x:绘制云端预警marker，不会做感知控制管理，后续根据注解的方式来控制v2x业务
*/
@SuppressLint("StaticFieldLeak")
object TrafficMarkerDrawer {
private val TAG = "TrafficMarkerDrawer"
private const val TAG = "TrafficMarkerDrawer"
private var mContext: Context? = null
// 动画持续时间
private val stepTime = 150L
private const val stepTime = 150L
// 维护Obu识别的他车集合
private val mTrafficMap = ConcurrentHashMap<String, TrafficData>()
@@ -57,15 +58,6 @@ object TrafficMarkerDrawer {
mDrawerHandler.sendEmptyMessageDelayed(1, 0L)
}
/**
* 添加识别的数据
*/
fun addTrafficInfo(trafficData: TrafficData) {
if (trafficData.uuid != null) {
mTrafficMap[trafficData.uuid!!] = trafficData
}
}
/**
* 更新识别数据,V2V预警的时候需要修改车辆颜色
*/
@@ -159,8 +151,8 @@ object TrafficMarkerDrawer {
*/
private fun drawObuRecognizedDataMarker(trafficData: TrafficData) {
CallerLogger.d(
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
if (trafficData.type != null) {
val resId: Int = trafficData.type.traffic3DIconId
@@ -177,30 +169,18 @@ object TrafficMarkerDrawer {
.icon3DRes(resId)
.rotate(trafficData.heading.toFloat())
.position(
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
)
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
)
)
if (trafficData.type != TrafficTypeEnum.TYPE_TRAFFIC_ID_SPECIAL_VEHICLE) {
// 修改颜色
when (trafficData.threatLevel) {
1 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
2 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
}
3 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
}
else -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
}
mMarkersCaches[trafficData.uuid]?.setAnchorColor(trafficData.threatLevelColor())
}
val marker = MogoMarkerManager.getInstance(mContext).addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
val marker = MogoMarkerManager.getInstance(mContext)
.addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
// 缓存3D资源
mMarkerCachesResMd5Values[resIdVal] = marker.markerResName
@@ -215,39 +195,25 @@ object TrafficMarkerDrawer {
* 带动画的修改Marker
*/
private fun changeDynamicMarker(
marker: IMogoMarker,
trafficData: TrafficData
marker: IMogoMarker,
trafficData: TrafficData
) {
CallerLogger.d(
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
TAG,
"trafficData.type = " + trafficData.type + "---trafficData.threatLevel = " + trafficData.threatLevel
)
if (trafficData.type != TrafficTypeEnum.TYPE_TRAFFIC_ID_SPECIAL_VEHICLE) {
// 修改颜色
when (trafficData.threatLevel) {
1 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
2 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
}
3 -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
}
else -> {
mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
}
}
mMarkersCaches[trafficData.uuid]?.setAnchorColor(trafficData.threatLevelColor())
}
try {
marker.addDynamicAnchorPosition(
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
),
trafficData.heading.toFloat(),
stepTime
com.mogo.eagle.core.data.map.MogoLatLng(
trafficData.lat,
trafficData.lon
),
trafficData.heading.toFloat(),
stepTime
)
} catch (e: Exception) {
e.printStackTrace()