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This commit is contained in:
zhongchao
2021-06-02 15:42:14 +08:00
parent 196222d89e
commit d877e15807
6 changed files with 76 additions and 67 deletions
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10
modules/mogo-module-common/src/main/java/com/mogo/module/common/constants/DataTypes.java
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@@ -8,13 +8,19 @@ public
* 描述
*/
class DataTypes {
/**
* adas识别数据
* 识别感知和云端感知数据，全部标记为Marker融合数据
*/
public static final String TYPE_MARKER_MERGE = "TYPE_MARKER_MERGE";
/**
* adas识别数据，Mock用
*/
public static final String TYPE_MARKER_ADAS = "TYPE_MARKER_ADAS";
/**
* 云端下发数据
* 云端下发数据，Mock用
*/
public static final String TYPE_MARKER_CLOUD_DATA = "TYPE_MARKER_CLOUD_DATA";

16
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -20,6 +20,8 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
public
/**
* @author congtaowang
@@ -256,7 +258,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
/**
* 绘制某个物体的一个数据 todo 缓存问题
* 绘制某个物体的一个数据
*
* @param recognizedListResult {@link ADASRecognizedResult}
* @param newAdasRecognizedMarkersCaches
@@ -289,16 +291,14 @@ 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);
// });
} else {
marker.setRotateAngle(((float) recognizedListResult.heading));
marker.setPosition(recognizedListResult.lat, recognizedListResult.lon);
}
String carColor = recognizedListResult.color;
if (TextUtils.isEmpty(carColor)) {
carColor = getModelRenderColor(recognizedListResult.type, recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading);
carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading);
}
marker.setAnchorColor(carColor);
@@ -323,10 +323,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
String carColor = recognizedListResult.color;
if (TextUtils.isEmpty(carColor)) {
carColor = getModelRenderColor(recognizedListResult.type, recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading);
carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.speed, recognizedListResult.lon, recognizedListResult.lat, recognizedListResult.heading);
}
MogoMarkerOptions options = new MogoMarkerOptions()
.owner(DataTypes.TYPE_MARKER_ADAS)
.owner(DataTypes.TYPE_MARKER_MERGE)
.anchor(0.5f, 0.5f)
.set3DMode(true)
.gps(true)
@@ -336,7 +336,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
.icon3DRes(resId)
.rotate((float) recognizedListResult.heading)
.position(new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon));
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_MERGE, options);
cacheMarkerIconResMd5Val(resIdVal, marker);
return marker;
}
@@ -358,6 +358,6 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if (mLastPositions != null) {
mLastPositions.clear();
}
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_ADAS);
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_MERGE);
}
}

73
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -26,9 +26,7 @@ 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 com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ROAD_UNIT;
import static java.lang.Math.PI;
public
@@ -208,39 +206,47 @@ class BaseDrawer {
* @param lat 纬度
* @return 实际车辆颜色
*/
protected String getModelRenderColor(int type, double speed, double lon, double lat, double angle) {
protected String getModelRenderColor(int type, int fromType, double speed, double lon, double lat, double angle) {
AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
return "#D8D8D8FF";
}
if (recognizedType == AdasRecognizedType.classIdUnKnow) { //todo unKnow颜色绘制
if (recognizedType == AdasRecognizedType.classIdUnKnow) {
return Car3DModelColor.Normal.color;
}
// 距离策略
double[] coordinates = getCurCoordinates();
double distance = CoordinateUtils.calculateLineDistance(lon, lat, coordinates[0], coordinates[1]) * 100;
if (distance < 50) {
return Car3DModelColor.Dangerous.color;
} else if (distance < 100 && distance >= 50) {
return Car3DModelColor.Warming.color;
}
// 他车车速和自车车速对比速度策略
// 自车速度 >= 50% 危险
// 10% < 自车速度 < 50% 警告
double curSpeed = getCurSpeed();
if (curSpeed > 0 && speed > curSpeed) {
double rate = ((speed - curSpeed) / curSpeed) * 100;
if (rate >= 50) {
return Car3DModelColor.Dangerous.color;
} else if (rate > 10 && rate < 50) {
return Car3DModelColor.Warming.color;
}
}
// 距离策略 todo 此处两种策略是临时方案
// double[] coordinates = getCurCoordinates();
// double distance = CoordinateUtils.calculateLineDistance(lon, lat, coordinates[0], coordinates[1]) * 100;
// if (distance < 50) {
// return Car3DModelColor.Dangerous.color;
// } else if (distance < 100 && distance >= 50) {
// return Car3DModelColor.Warming.color;
// }
//
//// 他车车速和自车车速对比速度策略
//// 自车速度 >= 50% 危险
//// 10% < 自车速度 < 50% 警告
// double curSpeed = getCurSpeed();
// if (curSpeed > 0 && speed > curSpeed) {
// double rate = ((speed - curSpeed) / curSpeed) * 100;
// if (rate >= 50) {
// return Car3DModelColor.Dangerous.color;
// } else if (rate > 10 && rate < 50) {
// return Car3DModelColor.Warming.color;
// }
// }
// 默认颜色
return Car3DModelColor.Normal.color;
switch (fromType) {
case FROM_ADAS:
return Car3DModelColor.Normal_Visual.color;
case FROM_ROAD_UNIT:
return Car3DModelColor.Normal_Cloud.color;
default:
return Car3DModelColor.Normal.color;
}
// return Car3DModelColor.Normal.color;
}
/**
@@ -292,6 +298,9 @@ class BaseDrawer {
public enum Car3DModelColor {
Normal("#D8D8D8FF"),
Normal_Visual("#D8CFF8BD"),
Normal_Cloud("#D8F8D69B"),
Warming("#FFD53EFF"),
Dangerous("#FF3C45FF");
@@ -467,14 +476,4 @@ 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;
}
}
}

30
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -34,6 +34,8 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_MERGE;
/**
* @author congtaowang
* @since 2020/10/28
@@ -120,7 +122,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
mMarkersCaches.clear();
mLastPositions.clear();
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA);
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_MERGE);
return true;
}
if (data == null || (
@@ -130,7 +132,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
mMarkersCaches.clear();
}
mLastPositions.clear();
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_CLOUD_DATA);
sendMessage(MSG_REMOVE_DIRTY_MARKERS, DataTypes.TYPE_MARKER_MERGE);
return true;
}
return false;
@@ -244,7 +246,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
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()) {
if (mLastPositions.isEmpty()) {
return;
}
IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
@@ -302,10 +304,16 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
double[] matchLonLat = getMatchLonLat(cloudRoadData.getUuid(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading(), lastLon, lastLat);
SocketDownData.CloudRoadDataProto.Builder builder = cloudRoadData.toBuilder();
builder.setWgslon(matchLonLat[0]);
builder.setWgslat(matchLonLat[1]);
// builder.setWgslon(matchLonLat[0]);
// builder.setWgslat(matchLonLat[1]);
builder.setWgslon(56.0);
builder.setWgslat(57.0);
cloudRoadData = builder.build(); //todo 验证值是否改变
double lon = cloudRoadData.getWgslon();
Log.d(TAG, "test lon : " + lon);
// cloudRoadData = builder.build();
mLastPositions.put(uniqueKey, cloudRoadData);
@@ -321,7 +329,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
marker.setRotateAngle(((float) cloudRoadData.getHeading()));
marker.setPosition(cloudRoadData.getWgslat(), cloudRoadData.getWgslon());
}
marker.setAnchorColor(getModelRenderColor(cloudRoadData.getType(), cloudRoadData.getSpeed(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading()));
marker.setAnchorColor(getModelRenderColor(cloudRoadData.getType(), cloudRoadData.getFromType(), cloudRoadData.getSpeed(), cloudRoadData.getWgslon(), cloudRoadData.getWgslat(), cloudRoadData.getHeading()));
if (shouldShowSpeed(cloudRoadData.getType())) {
showSelfSpeed(marker, cloudRoadData.getSpeed(), cloudRoadData.getUuid(), cloudRoadData.getType(), MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode());
}
@@ -425,7 +433,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
MogoMarkerOptions options = new MogoMarkerOptions()
.owner(getDataTypes(data.getFromType()))
.owner(TYPE_MARKER_MERGE)
.anchor(0.5f, 0.5f)
.rotate((float) data.getHeading())
.object(data)
@@ -435,7 +443,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
String resIdVal;
if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
options.set3DMode(true);
options.anchorColor(getModelRenderColor(data.getType(), data.getSpeed(), data.getWgslon(), data.getWgslat(), data.getHeading()));
options.anchorColor(getModelRenderColor(data.getType(), data.getFromType(), data.getSpeed(), data.getWgslon(), data.getWgslat(), data.getHeading()));
int resId = getModelRes(data.getType());
resIdVal = resId + "";
options.resName(mMarkerCachesResMd5Values.get(resIdVal));
@@ -446,7 +454,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
options.icon(view);
resIdVal = view.getId() + "";
}
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(getDataTypes(data.getFromType()), options);
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(TYPE_MARKER_MERGE, options);
cacheMarkerIconResMd5Val(resIdVal, marker);
if (!TextUtils.isEmpty(data.getSn())) {
@@ -502,7 +510,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
/**
* 展示用户信息米娜版
* 展示用户信息面版
*
* @param data 道路数据
*/