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删除废弃功能

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2022-03-29 20:12:22 +08:00
committed by pangfan
parent 3663501743
commit d532edce7c
15 changed files with 51 additions and 654 deletions
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27
modules/mogo-module-common/src/main/java/com/mogo/module/common/animation/DelegateDrawable.java
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@@ -1,27 +0,0 @@
package com.mogo.module.common.animation;
import android.graphics.drawable.AnimationDrawable;
public class DelegateDrawable implements Animation {
private AnimationDrawable drawable;
public DelegateDrawable(AnimationDrawable drawable) {
this.drawable = drawable;
}
@Override
public void start() {
if (drawable != null) {
drawable.start();
}
}
@Override
public void stop() {
if (drawable != null) {
drawable.stop();
}
}
}

9
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/AdasRecognizedType.java
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@@ -1,13 +1,6 @@
package com.mogo.module.common.constants;
public
/**
* @author congtaowang
* @since 2020/10/27
* <p>
* 描述
*/
enum AdasRecognizedType {
public enum AdasRecognizedType {
//背景
classIdBackground("background", 0),
//人

348
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
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@@ -1,348 +0,0 @@
package com.mogo.module.common.drawer;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
import android.os.Build;
import android.text.TextUtils;
import android.util.Log;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.data.traffic.TrafficData;
import com.mogo.map.MogoMarkerManager;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.marker.MogoMarkerOptions;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.Trigonometric;
import java.util.ArrayList;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeUnit;
/**
* @author congtaowang
* @since 2020/10/28
* <p>
* 绘制adas近景识别到的车辆
*/
public class AdasRecognizedResultDrawer extends BaseDrawer {
private static final String TAG = "AdasRecognizedResultDrawer";
private static volatile AdasRecognizedResultDrawer sInstance;
/**
* 上一帧数据的缓存
*/
private static Map<String, IMogoMarker> mMarkersCaches = new ConcurrentHashMap<>();
public AdasRecognizedResultDrawer() {
super();
}
private final Map<String, TrafficData> mLastPositions = new ConcurrentHashMap<>();
public static AdasRecognizedResultDrawer getInstance() {
if (sInstance == null) {
synchronized (AdasRecognizedResultDrawer.class) {
if (sInstance == null) {
sInstance = new AdasRecognizedResultDrawer();
}
}
}
return sInstance;
}
public synchronized void release() {
sInstance = null;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return sInstance;
}
public boolean hasCached(String uniqueKey) {
return mMarkersCaches.containsKey(uniqueKey);
}
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
public void renderAdasRecognizedResult(List<TrafficData> resultList) {
final long start = System.nanoTime();
if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
clearOldMarker();
Log.w("ADAS数据延时绘制", "resultList==>" + resultList + " DebugConfig.isUseAdasRecognize()==>" + DebugConfig.isUseAdasRecognize());
return;
}
if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
clearOldMarker();
Log.w("ADAS数据延时绘制", "当前不是VR模式");
return;
}
// List<TrafficData> allDatumsList = new ArrayList<>();
// prepareData(resultList, allDatumsList);
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
List<TrafficData> newDiffSet = new ArrayList<>();
for (TrafficData recognizedListResult : resultList) {
if (isUselessValue(recognizedListResult)) {
continue;
}
// 复用之前存在的 marker
String uniqueKey = recognizedListResult.getUuid();
IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
if (marker != null && !marker.isDestroyed()) {
// Log.d(TAG, "发现缓存marker id : " + uniqueKey);
updateCacheMarkerRes(marker, recognizedListResult);
renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
} else {
// 新增添加进差集
newDiffSet.add(recognizedListResult);
}
}
removeUselessMarker(mMarkersCaches);
removeUselessLastRecord();
int newDiffSetSize = newDiffSet.size();
// Log.d(TAG, "原数据量 ： " + resultList.size() + " 新增marker数量 ： " + newDiffSetSize);
// 复用过期 marker
if (newDiffSetSize > 0) {
for (int i = 0; i < newDiffSetSize; i++) {
TrafficData recognizedListResult = newDiffSet.get(i);
String uniqueKey = recognizedListResult.getUuid();
IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
if (marker == null) {
continue;
}
// Log.d(TAG, "新增marker id : " + uniqueKey);
renderAdasOneFrame(marker, uniqueKey, recognizedListResult, newAdasRecognizedMarkersCaches);
}
}
sendMessage(MSG_REMOVE_DIRTY_MARKERS, mMarkersCaches);
mMarkersCaches.clear();
mMarkersCaches = newAdasRecognizedMarkersCaches;
Log.d("ADAS数据延时绘制", "render 接收数据 -> 处理结束 " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
}
/**
* 对数据补点
*
* @param in
* @param out
*/
private void prepareData(List<TrafficData> in, List<TrafficData> out) {
// foreCastPoint(in);
out.addAll(in);
}
private final static String FORECAST = "adasForecast";
/**
* 基于工控机识别的数据点速度预测当前位置和距离自车距离
*
* @param in 数据源
*/
private void foreCastPoint(List<TrafficData> in) {
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
for (TrafficData adasResult : in) {
Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.getUuid());
long internal = getCurSatelliteTime() - adasResult.getSatelliteTime();
if (internal <= 0) {
Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.getUuid());
continue;
}
long startTime = System.currentTimeMillis();
// 预测点
Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.getSpeed());
double foreCastDistance = adasResult.getSpeed() * internal / 1000;
Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
MogoLatLng mogoLatLng = new MogoLatLng(adasResult.getLat(), adasResult.getLon());
MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.getHeading());
// 计算与自车距离
float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
, foreCastMogoLatLon.getLon(), foreCastMogoLatLon.getLat());
long foreCastInternal = System.currentTimeMillis() - startTime;
Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
adasResult.setLat(foreCastMogoLatLon.getLat());
adasResult.setLon(foreCastMogoLatLon.getLon());
adasResult.setSatelliteTime((getCurSatelliteTime() - foreCastInternal));
adasResult.setDistance(distanceFromSelf);
}
}
}
/**
* 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, TrafficData recognizedListResult) {
String resIdVal;
int resId = getModelRes(recognizedListResult.getType().getType());
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.isEmpty()) {
return;
}
Iterator<TrafficData> iterator = mLastPositions.values().iterator();
while (iterator.hasNext()) {
TrafficData result = iterator.next();
long internal = result.getSatelliteTime() - getCurSatelliteTime();
if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
iterator.remove();
}
}
}
/**
* 过滤无用数据
*
* @param recognizedListResult {@link TrafficData}
* @return useless
*/
private boolean isUselessValue(TrafficData recognizedListResult) {
if (recognizedListResult == null) {
return true;
}
if (nonRenderType(recognizedListResult.getType().getType())) {
return true;
}
String uniqueKey = recognizedListResult.getUuid();
return TextUtils.isEmpty(uniqueKey);
}
/**
* 绘制某个物体的一个数据
*
* @param recognizedListResult {@link TrafficData}
* @param newAdasRecognizedMarkersCaches 缓存集合
*/
private void renderAdasOneFrame(IMogoMarker marker,
String uniqueKey,
TrafficData recognizedListResult,
Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
final long start = System.nanoTime();
// Log.d(TAG, "renderAdasOneFrame uuid : " + uniqueKey + " type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
TrafficData lastPosition = mLastPositions.remove(uniqueKey);
// 道路吸附
// 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( "matchRoad", "cost = %s", System.currentTimeMillis() - start );
mLastPositions.put(uniqueKey, recognizedListResult);
// Log.d(TAG, "使用缓存 id : " + uniqueKey);
long interval = 45;
if (lastPosition != null) {
interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
}
final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
//Log.d("ADAS动画数据", "cost : " + cost);
final long intervalRef = interval - cost;
//Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + " 两帧间隔 : " + interval + " uuid : " + recognizedListResult.getUuid());
marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
marker.setAnchorColor(carColor);
newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
// if (shouldShowSpeed(recognizedListResult.type)) {
// Message msg = mRenderThreadHandler.obtainMessage();
// msg.obj = new SpeedData(marker
// , recognizedListResult.speed
// , recognizedListResult.uuid
// , recognizedListResult.type
// , recognizedListResult.heading
// , MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
// msg.what = MSG_DISPLAY_SPEED;
// msg.sendToTarget();
// }
Log.d("ADAS数据延时", "render 刷新一台车 cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
}
/**
* 绘制 marker
*
* @param recognizedListResult {@link TrafficData}
* @return {@link IMogoMarker}
*/
private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
long start = System.nanoTime();
if (recognizedListResult == null) {
return null;
}
int resId = getModelRes(recognizedListResult.getType().getType());
String resIdVal = resId + "";
String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
MogoMarkerOptions options = new MogoMarkerOptions()
.owner(DataTypes.TYPE_MARKER_ADAS)
.anchor(0.5f, 0.5f)
.set3DMode(true)
.gps(true)
.anchorColor(carColor)
.controlAngle(true)
.resName(mMarkerCachesResMd5Values.get(resIdVal))
.icon3DRes(resId)
.rotate((float) recognizedListResult.getHeading())
.position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
IMogoMarker marker = MogoMarkerManager.getInstance(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
cacheMarkerIconResMd5Val(resIdVal, marker);
Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
return marker;
}
/**
* vr 模式切换
*/
public void notifyVrModeChanged() {
clearOldMarker();
}
/**
* 清除旧的 marker 数据
*/
public void clearOldMarker() {
if (mMarkersCaches != null) {
mMarkersCaches.clear();
}
mLastPositions.clear();
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
}
}

88
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/MapVrMarkerView.java
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@@ -1,88 +0,0 @@
package com.mogo.module.common.drawer.marker;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.view.View;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.module.common.R;
import java.lang.ref.SoftReference;
import java.util.HashMap;
import java.util.Map;
/**
* VR 模式的Marker绘制
*/
public class MapVrMarkerView implements IMarkerView {
private String TAG = "MapVrMarkerView";
private static Map<String, SoftReference<Bitmap>> sRef = new HashMap<>();
private static Map<String, SoftReference<Bitmap>> sTypedRef = new HashMap<>();
private static final class InstanceHolder {
private static final MapVrMarkerView INSTANCE = new MapVrMarkerView();
}
public static MapVrMarkerView getInstance() {
return MapVrMarkerView.InstanceHolder.INSTANCE;
}
private Object readResolve() {
// 阻止反序列化，必须实现 Serializable 接口
return MapVrMarkerView.InstanceHolder.INSTANCE;
}
@Override
public View getView() {
return null;
}
@Override
public void setMarker(IMogoMarker marker) {
}
@Override
public Bitmap getBitmap(int vehicleType) {
return null;
}
/**
* TODO 都是模拟数据
* 获取VR道路事件
*/
public Bitmap getBitmap(String sceneId) {
sRef.put(sceneId, new SoftReference<>(BitmapFactory.decodeResource(AbsMogoApplication.getApp().getResources(), R.drawable.icon_map_marker_car_type_taxi)));
switch (sceneId) {
case "200001"://后方VIP车辆提示
// bitmap = ImageUtil.createBitmap(Utils.getApp(),
// R.drawable.v2x_duixiang_laiche_che);
break;
case "200002"://前车急刹
break;
case "200003"://后方危险车辆预警
break;
case "200004"://逆向车辆路线预判
// bitmap = ImageUtil.createBitmap(Utils.getApp(),
// R.drawable.v2x_duixiang_laiche_che);
break;
case "200005"://VIP变灯通行
break;
case "200006"://障碍物绕行
break;
case "200007"://行人预警，行人路线预测
break;
case "200008"://拥堵路线推荐
break;
case "200009"://双闪车辆，自动绕行
break;
}
return sRef.get(sceneId).get();
}
}

23
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/marker/SimpleWindow3DAdapter.java
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@@ -1,23 +0,0 @@
package com.mogo.module.common.drawer.marker;
import android.view.View;
import com.mogo.map.marker.IMogoInfoWindowAdapter;
import com.mogo.map.marker.IMogoMarker;
/**
* 简单marker适配器
*
* @author tongchenfei
*/
public class SimpleWindow3DAdapter implements IMogoInfoWindowAdapter {
public View icon;
public SimpleWindow3DAdapter(View icon) {
this.icon = icon;
}
@Override
public View getInfoWindow(IMogoMarker marker) {
return icon;
}
}