Merge remote-tracking branch 'origin/dev2_aiSdk' into dev2_aiSdk

# Conflicts:
#	modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/RoadCacheWrapper.java

@@ -0,0 +1,77 @@
+package com.mogo.map.impl.custom;
+
+import com.zhidaoauto.map.sdk.open.query.LonLatPoint;
+
+import java.util.List;
+
+/**
+ * 道路数据缓存
+ *
+ * @author tongchenfei
+ */
+public class RoadCacheWrapper {
+    private List<LonLatPoint> road;
+    private double lastDistanceDiff;
+    private int roadLength = -1;
+
+    public RoadCacheWrapper(List<LonLatPoint> road) {
+        setRoad(road);
+    }
+
+    public List<LonLatPoint> getRoad() {
+        return road;
+    }
+
+    public void setRoad(List<LonLatPoint> road) {
+        this.road = road;
+        if(road!=null) {
+            roadLength = road.size();
+        }
+    }
+
+    public double getLastDistanceDiff() {
+        return lastDistanceDiff;
+    }
+
+    public void setLastDistanceDiff(double lastDistanceDiff) {
+        this.lastDistanceDiff = lastDistanceDiff;
+    }
+
+    public double getLastLat(){
+        if (roadLength != -1) {
+            return road.get(roadLength - 1).getLatitude();
+        }
+        return 0;
+    }
+
+    public double getLastLon(){
+        if (roadLength != -1) {
+            return road.get(roadLength - 1).getLongitude();
+        }
+        return 0;
+    }
+
+    public boolean inCache(double lon, double lat) {
+        if (roadLength > 0) {
+            LonLatPoint start = road.get(0);
+            LonLatPoint end = road.get(roadLength - 1);
+            boolean latInRoad = false;
+            boolean lonInRoad = false;
+            if (start.getLatitude() > end.getLatitude()) {
+                latInRoad = lat <= start.getLatitude() && lat >= end.getLatitude();
+            }else{
+                latInRoad = lat >= start.getLatitude() && lat <= end.getLatitude();
+            }
+
+            if (start.getLongitude() > end.getLongitude()) {
+                lonInRoad = lon <= start.getLongitude() && lon >= end.getLongitude();
+            }else{
+                lonInRoad = lon >= start.getLongitude() && lon <= end.getLongitude();
+            }
+
+            return latInRoad && lonInRoad;
+        }
+        return false;
+    }
+
+}

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java

@@ -315,9 +315,9 @@ public class AMapUIController implements IMogoMapUIController {
     }
 
     @Override
-    public double[] matchRoad( double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
+    public double[] matchRoad( String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
         if ( mClient != null ) {
-            return mClient.matchRoad( lon, lat, angle, isGpsLocation, isRTK );
+            return mClient.matchRoad( id, lon, lat, angle, isGpsLocation, isRTK );
         }
         return null;
     }

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java

@@ -61,13 +61,15 @@ public class PointInterpolatorUtil {
         getCloseTwoPoint( lon, lat, road );
         LonLatPoint start = road.get( closeStart );
         LonLatPoint end = road.get( closeEnd );
-        Logger.d( TAG, "mergeToRoad  start: " + closeStart + " end: " + closeEnd );
+//        Logger.d( TAG, "mergeToRoad  start: " + closeStart + " end: " + closeEnd );
 //        return getMid(start, end);
-        double[] foot = getFoot( lon, lat, start, end );
+//        double[] foot = getFoot( lon, lat, start, end );
 
-        float d = CoordinateUtils.calculateLineDistance( foot[0], foot[1], lon, lat );
-        Logger.d( TAG, "distance to mid line==" + d );
-        return new double[]{foot[0], foot[1], d};
+//        float d = CoordinateUtils.calculateLineDistance( foot[0], foot[1], lon, lat );
+//        Logger.d( TAG, "distance to mid line==" + d );
+//        return new double[]{foot[0], foot[1], d};
+
+        return getFootAndMinDistance(lon, lat, start.getLongitude(), start.getLatitude(), end.getLongitude(), end.getLatitude());
     }
 
     private static int closeStart = 0;
@@ -99,6 +101,57 @@ public class PointInterpolatorUtil {
         return new double[]{beginPt.getLongitude() + u * dy, beginPt.getLatitude() + u * dx};
     }
 
+
+//    un minDistance(x: Double, y: Double, x1: Double, y1: Double, x2: Double, y2: Double): Double {
+//        val cross = (x2 - x1) * (x - x1) + (y2 - y1) * (y - y1)
+//        println("1.cross:$cross")
+//        if (cross <= 0) {
+//            return Math.sqrt((x - x1) * (x - x1) + (y - y1) * (y - y1))
+//        }
+//        val d2 = (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1)
+//        println("2.d2:$cross")
+//        if (cross > d2) {
+//            return Math.sqrt((x - x2) * (x - x2) + (y - y2) * (y - y2))
+//        }
+//        val r = cross / d2
+//        val px = x1 + (x2 - x1) * r
+//        val py = y1 + (y2 - y1) * r
+//        println("3.r:$r,px:$px,py:$py")
+//        return Math.sqrt((x - px) * (x - px) + (py - y) * (py - y))
+//    }
+
+    /**
+     * 计算垂足以及最短距离
+     *
+     * @param x target point lon
+     * @param y target point lat
+     * @param x1 start point lon
+     * @param y1 start point lat
+     * @param x2 end point lon
+     * @param y2 end point lat
+     * @return double[]{footLon,footLat,minDistance} if(footLon == -1) => no foot or foot not in line
+     */
+    private static double[] getFootAndMinDistance(double x, double y, double x1, double y1, double x2, double y2) {
+        double[] result = new double[]{-1, -1, -1};
+        double cross = (x2 - x1) * (x - x1) + (y2 - y1) * (y - y1);
+        if (cross < 0) {
+            // 垂足没有在线段内，所以也无需计算最短距离
+            // result[2] = Math.sqrt((x - x1) * (x - x1) + (y - y1) * (y - y1));
+            return result;
+        }
+        double d2 = (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1);
+        if (cross > d2) {
+            // 垂足没有在线段内，所以也无需计算最短距离
+            // result[2] = Math.sqrt((x - x2) * (x - x2) + (y - y2) * (y - y2));
+            return result;
+        }
+        double r = cross / d2;
+        result[0] = x1 + (x2 - x1) * r;
+        result[1] = y1 + (y2 - y1) * r;
+        result[2] = Math.sqrt((x - result[0]) * (x - result[0]) + (result[1] - y) * (result[1] - y));
+        return result;
+    }
+
     private static double[] getMid( LonLatPoint start, LonLatPoint end ) {
         return new double[]{( start.getLongitude() + end.getLongitude() ) / 2, ( start.getLatitude() + end.getLatitude() ) / 2};
     }

libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java

@@ -285,7 +285,7 @@ public interface IMogoMapUIController {
      * @param isRTK
      * @return
      */
-    default double[] matchRoad( double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
+    default double[] matchRoad(String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
         return null;
     }
 

libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java

@@ -355,10 +355,10 @@ public class MogoMapUIController implements IMogoMapUIController {
     }
 
     @Override
-    public double[] matchRoad( double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
+    public double[] matchRoad( String id, double lon, double lat, double angle, boolean isGpsLocation, boolean isRTK ) {
         initDelegate();
         if ( mDelegate != null ) {
-            return mDelegate.matchRoad( lon, lat, angle, isGpsLocation, isRTK );
+            return mDelegate.matchRoad( id, lon, lat, angle, isGpsLocation, isRTK );
         }
         return null;
     }

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

@@ -188,8 +188,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
 
 
         final long start = System.currentTimeMillis();
-
-        double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.lon,
+        double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.uuid, recognizedListResult.lon,
                 recognizedListResult.lat,
                 recognizedListResult.heading,
                 true

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

@@ -208,14 +208,14 @@ class BaseDrawer {
      * @param isRtk
      * @return
      */
-    public double[] matchRoad( double lon, double lat, double angle, boolean isRtk ) {
+    public double[] matchRoad( String id, double lon, double lat, double angle, boolean isRtk ) {
         final long start = System.currentTimeMillis();
         double[] matchRoad = MogoApisHandler.getInstance()
                 .getApis()
                 .getMapServiceApi()
                 .getMapUIController()
-                .matchRoad( lon, lat, angle, true, isRtk );
-        Log.i( "timer-matchRoad", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+                .matchRoad( id, lon, lat, angle, true, isRtk );
+        Log.i("timer-matchRoad", "cost " + (System.currentTimeMillis() - start) + "ms");
         return matchRoad;
     }
 

modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java

@@ -208,7 +208,8 @@ public class SimpleHandlerThreadPool {
                 }
             }
 
-            double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( cloudRoadData.getWgslon(),
+            double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( cloudRoadData.getUniqueKey(),
+                    cloudRoadData.getWgslon(),
                     cloudRoadData.getWgslat(),
                     cloudRoadData.getHeading(),
                     true