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[8.0.0][opt]调整预测的数据和绘制逻辑

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This commit is contained in:
chenfufeng
2025-05-14 18:11:13 +08:00
parent e152a773b3
commit db97849736
21 changed files with 1142 additions and 100 deletions
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13
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
View File

@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.traffic.TrafficData
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
interface Identify {
@@ -19,6 +20,14 @@ interface Identify {
}
fun renderPredictionResult(predictionObjectList: List<Prediction2025.mPredictionObjectApp>?) {
}
fun renderPredictionResult(predictionObjectList: List<Prediction2025.mPredictionObjectApp>?, mapInstance:String) {
}
fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
}
@@ -34,4 +43,8 @@ interface Identify {
fun clearAiMarker(mapInstance:String) {
}
fun clearPredictionMarker(mapInstance:String) {
}
}

68
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
View File

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.business.identify
import android.os.Handler
import android.os.Message
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.deva.chain.ChainConstant
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
@@ -14,6 +15,7 @@ import com.zhjt.service.chain.ChainLog
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.concurrent.TimeUnit
object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConfigListener {
@@ -31,21 +33,25 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
// 预测
object PreDriverIdentify {
internal val preDataDrawer = IdentifyNewDataDrawer()
internal val preDataDrawer2 = IdentifyNewDataDrawer()
internal val preDataDrawer3 = IdentifyNewDataDrawer()
internal val preDataDrawer = IdentifyPredictionDataDrawer()
// internal val preDataDrawer2 = IdentifyPredictionDataDrawer()
// internal val preDataDrawer3 = IdentifyPredictionDataDrawer()
internal val preDataDrawer2 = IdentifyOriginDataDrawer()
internal val preDataDrawer3 = IdentifyOriginDataDrawer()
}
// 决策
object DesDriverIdentify {
internal val desDataDrawer = IdentifyNewDataDrawer()
internal val desDataDrawer = IdentifyOriginDataDrawer()
}
private var identify: Identify = DriverIdentify.originDataDrawer
private var aiCloudIdentify: Identify? = null
// 预测
private var preIdentify: Identify = PreDriverIdentify.preDataDrawer
private var preIdentify2: Identify = PreDriverIdentify.preDataDrawer2
private var preIdentify3: Identify = PreDriverIdentify.preDataDrawer3
// 决策
private var desIdentify: Identify = DesDriverIdentify.desDataDrawer
private var startTime: Long = 0L
@@ -71,6 +77,8 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
private const val MSG_DATA_OBU_WARNING_REMOVE = 4
private const val MSG_DATA_CLEAR = 5
private const val MSG_DATA_AI_CLEAR = 6
private const val MSG_DATA_PRE_TRACK = 7
private const val MSG_DATA_PRE_CLEAR = 8
// 维护一个线程定时轮询数据进行地图绘制
private val mDrawerHandler: Handler =
@@ -89,14 +97,14 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
lostFrame(internal.toString())
identify.clearOldMarker()
}
if (TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - preStartTime) >= 1000) {
if (FunctionBuildConfig.isDrawPreIdentifyData && TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - preStartTime) >= 1000) {
preIdentify.clearOldMarker()
}
if (FunctionBuildConfig.isDrawDecIdentifyData && TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - desStartTime) >= 1000) {
desIdentify.clearOldMarker()
preIdentify2.clearOldMarker()
preIdentify3.clearOldMarker()
}
if (TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - desStartTime) >= 1000) {
desIdentify.clearOldMarker()
}
sendEmptyMessageDelayed(MSG_CHECK, 1000L)
}
@@ -106,13 +114,15 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
identify.renderAdasRecognizedResult(objectList)
startTime = System.nanoTime()
preIdentify.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP)
preIdentify2.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP2)
preIdentify3.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP3)
preStartTime = System.nanoTime()
desIdentify.renderAdasRegResult(objectList, MogoMap.SMALL_DES_MAP)
desStartTime = System.nanoTime()
if (FunctionBuildConfig.isDrawDecIdentifyData) {
desIdentify.renderAdasRegResult(objectList, MogoMap.SMALL_DES_MAP)
desStartTime = System.nanoTime()
}
if (FunctionBuildConfig.isDrawPreIdentifyData) {
preIdentify2.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP2)
preIdentify3.renderAdasRegResult(objectList, MogoMap.SMALL_PRED_MAP3)
preStartTime = System.nanoTime()
}
}
}
@@ -125,6 +135,15 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
}
}
MSG_DATA_PRE_TRACK -> {
if (msg.obj is List<*>) {
val objectList = msg.obj as List<Prediction2025.mPredictionObjectApp>
preIdentify.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP)
// preIdentify2.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP2)
// preIdentify3.renderPredictionResult(objectList, MogoMap.SMALL_PRED_MAP3)
}
}
MSG_DATA_WARNING -> {
if (msg.obj is List<*>) {
identify.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
@@ -150,6 +169,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
MSG_DATA_AI_CLEAR -> {
aiCloudIdentify!!.clearAiMarker(msg.data.getString("mapInstance")!!)
}
MSG_DATA_PRE_CLEAR -> {
preIdentify.clearPredictionMarker(MogoMap.SMALL_PRED_MAP)
preIdentify2.clearPredictionMarker(MogoMap.SMALL_PRED_MAP2)
preIdentify3.clearPredictionMarker(MogoMap.SMALL_PRED_MAP3)
}
}
}
}
@@ -161,6 +186,13 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
mDrawerHandler.sendMessage(message)
}
override fun renderPredictionResult(predictionObjectList: List<Prediction2025.mPredictionObjectApp>?) {
val message = Message.obtain()
message.what = MSG_DATA_PRE_TRACK
message.obj = predictionObjectList
mDrawerHandler.sendMessage(message)
}
override fun renderAiCloudResult(
resultList: List<SocketDownData.CloudRoadDataProto>,
mapInstance: String
@@ -192,6 +224,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
mDrawerHandler.sendMessage(message)
}
override fun clearPredictionMarker(mapInstance: String) {
val message = Message.obtain()
message.what = MSG_DATA_PRE_CLEAR
mDrawerHandler.sendMessage(message)
}
override fun updateTrackerWarningInfo(trafficData: TrafficData) {
super.updateTrackerWarningInfo(trafficData)
val message = Message.obtain()

39
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt
View File

@@ -87,6 +87,45 @@ class IdentifyOriginDataDrawer : Identify {
}
}
override fun renderAdasRegResult(resultList: List<TrackedObject>?, mapInstance: String) {
if (resultList.isNullOrEmpty()) {
clearOldMarker()
return
}
if (!MogoStatusManager.getInstance().isVrMode) {
clearOldMarker()
return
}
//清除缓存
for (data in resultList) {
if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains(data.uuid.toString())) {
if (TrackerSourceFilterHelper.filterData(data)) {
continue
}
trafficDataUuidList.remove(data.uuid.toString())
}
}
//清除缓存,删除marker
val it: MutableIterator<*> = trafficDataUuidList.iterator()
while (it.hasNext()) {
val key = it.next() as String
it.remove()
mMarkersCaches.remove(key)
MogoIdentifyManager.getInstance()
.removeMarker(key, mapInstance)
TrackerSourceFilterHelper.removeBottomMarker(key)
}
val filterList = filterTrafficData(resultList)
if (filterList.size > 0) {
// 绘制新数据
MogoIdentifyManager.getInstance()
.updateBatchMarkerPosition(filterList, mapInstance)
}
}
/**
* 数据过滤器
*

81
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyNewDataDrawer.kt → core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt
View File

@@ -5,19 +5,18 @@ import androidx.collection.ArraySet
import com.mogo.commons.module.status.MogoStatusManager
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.map.identify.MogoIdentifyManager
import mogo.telematics.pad.MessagePad.PlanningObject
import mogo.telematics.pad.MessagePad.TrackedObject
import prediction2025.Prediction2025
import java.util.concurrent.ConcurrentHashMap
/**
* 域控制器识别信息绘制
* 域控制器预测数据绘制
*/
class IdentifyNewDataDrawer : Identify {
class IdentifyPredictionDataDrawer : Identify {
/**
* 上一帧数据的缓存
*/
private val mMarkersCaches = ConcurrentHashMap<String, TrackedObject>()
private val mMarkersCaches = ConcurrentHashMap<String, Prediction2025.mPredictionObjectApp>()
/**
* 记录每次实际绘制的交通元素UUID
@@ -29,25 +28,17 @@ class IdentifyNewDataDrawer : Identify {
* 过滤后的数据集合
*/
@SuppressLint("NewApi")
private val mFilterTrafficData = HashMap<String, TrackedObject>()
@SuppressLint("NewApi")
override fun renderPlanningWarningObj(planningObjects: List<PlanningObject>?) {
WarningHelper.renderPlanningOriginWarningObj(planningObjects, mMarkersCaches)
}
private val mFilterTrafficData = HashMap<String, Prediction2025.mPredictionObjectApp>()
override fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
WarningHelper.renderOBUWarningObj(exist, obuTrafficData)
}
/**
* 渲染 adas 识别的数据
*
* @param resultList adas感知融合数据
*/
@SuppressLint("NewApi")
override fun renderAdasRegResult(resultList: List<TrackedObject>?, mapInstance:String) {
if (resultList == null || resultList.isEmpty()) {
override fun renderPredictionResult(
predictionObjectList: List<Prediction2025.mPredictionObjectApp>?,
mapInstance: String
) {
if (predictionObjectList.isNullOrEmpty()) {
clearOldMarker()
return
}
@@ -55,14 +46,10 @@ class IdentifyNewDataDrawer : Identify {
clearOldMarker()
return
}
//清除缓存
for (data in resultList) {
if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains(data.uuid.toString())) {
if (TrackerSourceFilterHelper.filterData(data)) {
continue
}
trafficDataUuidList.remove(data.uuid.toString())
for (data in predictionObjectList) {
if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.mNid)) {
trafficDataUuidList.remove("" + data.mNid)
}
}
@@ -73,15 +60,14 @@ class IdentifyNewDataDrawer : Identify {
it.remove()
mMarkersCaches.remove(key)
MogoIdentifyManager.getInstance()
.removeMarker(key, mapInstance)
TrackerSourceFilterHelper.removeBottomMarker(key)
.removeMarker(key.hashCode().toString(), mapInstance)
}
val filterList = filterTrafficData(resultList)
val filterList = filterTrafficData(predictionObjectList)
if (filterList.size > 0) {
// 绘制新数据
MogoIdentifyManager.getInstance()
.updateBatchMarkerPosition(filterList, mapInstance)
.updatePreMarkerPosition(filterList, mapInstance)
}
}
@@ -91,32 +77,28 @@ class IdentifyNewDataDrawer : Identify {
* @return 过滤后的数据集合
*/
@SuppressLint("NewApi")
private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String, TrackedObject> {
private fun filterTrafficData(trafficData: List<Prediction2025.mPredictionObjectApp>): HashMap<String, Prediction2025.mPredictionObjectApp> {
mFilterTrafficData.clear()
trafficDataUuidList.clear()
for (data in trafficData) {
// 过滤掉未知感知数据
if (TrackerSourceFilterHelper.filterData(data)) {
continue
}
var temp: TrackedObject = data
val uuid = data.uuid.toString()
val cacheData = mMarkersCaches[uuid]
if (cacheData != null) {
val color = TrackerSourceFilterHelper.getDefaultColor(data)
temp = data.toBuilder().setColor(color).build()
}
mFilterTrafficData[uuid] = temp
mMarkersCaches[uuid] = temp
val uuid = "" + data.mNid
mMarkersCaches[uuid] = data
trafficDataUuidList.add(uuid)
// TrackerSourceFilterHelper.filterZombieMarker(data)
mFilterTrafficData[uuid] = data
}
return mFilterTrafficData
}
/**
* 清除旧的 marker 数据
*/
@SuppressLint("NewApi")
override fun clearPredictionMarker(mapInstance:String) {
trafficDataUuidList.clear()
mMarkersCaches.forEach { (uuid, _) ->
mMarkersCaches.remove(uuid)
MogoIdentifyManager.getInstance()
.removeMarker(uuid.hashCode().toString(), mapInstance)
}
mFilterTrafficData.clear()
}
override fun clearOldMarker() {
for (uuid in trafficDataUuidList) {
MogoIdentifyManager.getInstance()
@@ -127,5 +109,4 @@ class IdentifyNewDataDrawer : Identify {
mMarkersCaches.clear()
WarningHelper.clear()
}
}

47
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
View File

@@ -1,17 +1,23 @@
package com.mogo.eagle.core.function.business.identify
import com.mogo.eagle.core.data.config.FunctionBuildConfig
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.data.traffic.TrafficData
import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer
import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer2
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
import com.mogo.eagle.core.function.utils.LocationUtils
import com.mogo.eagle.core.utilcode.util.ThreadUtils
import com.mogo.map.MogoMap
import com.mogo.map.identify.MogoIdentifyManager
import mogo.telematics.pad.MessagePad
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
/**
* 订阅感知数据的订阅者
@@ -59,6 +65,47 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
}
}
private var carPoiList1: List<geometry.Geometry.Point>? = null
private var carPoiList2: List<geometry.Geometry.Point>? = null
private var location1: MogoLocation? = null
private var location2: MogoLocation? = null
override fun onPredictionObstacleTrajectory(predictionObjects: Prediction2025.mPredictionObjects) {
if (FunctionBuildConfig.isDrawPreIdentifyData) {
try {
ThreadUtils.getSinglePool().execute {
// 渲染它车
IdentifyFactory.renderPredictionResult(predictionObjects.objsAppList)
// 渲染自车
predictionObjects.objsAppList.forEach { preObj ->
if (preObj.mNid == 800000L) {
// 自车有2条轨迹，一条概率大、一条概率小
if (preObj.predictionTrajectoryList == null || preObj.predictionTrajectoryList.size < 2) return@forEach
carPoiList1 = preObj.predictionTrajectoryList[0].trajectoryPointsList
carPoiList2 = preObj.predictionTrajectoryList[1].trajectoryPointsList
val largeType: Int
location1 = LocationUtils.generateLocation(carPoiList1!![0].x, carPoiList1!![0].y, carPoiList1!![1].x, carPoiList1!![1].y)
location2 = LocationUtils.generateLocation(carPoiList2!![0].x, carPoiList2!![0].y, carPoiList2!![1].x, carPoiList2!![1].y)
if (location1 == null || location2 == null) return@forEach
if (preObj.predictionTrajectoryList[0].predictionProbability >= preObj.predictionTrajectoryList[1].predictionProbability) {
MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP)
largeType = 2
} else {
MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP)
largeType = 3
}
PredictionOverlayDrawer.getInstance().drawPredictionList(carPoiList1, location1!!.heading, false, 2, largeType)
PredictionOverlayDrawer2.getInstance().drawPredictionList(carPoiList2, location2!!.heading, false, 3, largeType)
MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP2)
MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP3)
}
}
}
} catch (e: Exception) {
e.printStackTrace()
}
}
}
fun renderAiCloudResult(cloudData: List<SocketDownData.CloudRoadDataProto>, mapInstance:String = MogoMap.DEFAULT) {
try {
ThreadUtils.getSinglePool().execute {

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
View File

@@ -131,12 +131,16 @@ public class MogoRouteOverlayManager implements
// Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
if (isArriveAtStation && autoPilotState != 2) {
RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
PredictionOverlayDrawer.getInstance().clearPreRouteOverlay();
PredictionOverlayDrawer2.getInstance().clearPreRouteOverlay();
return;
}
// Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
boolean force = hasGreenWave.get() || FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
if (!force && autoPilotState != 2) {
RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
PredictionOverlayDrawer.getInstance().clearPreRouteOverlay();
PredictionOverlayDrawer2.getInstance().clearPreRouteOverlay();
return;
}
// Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");

369
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java Normal file
View File

@@ -0,0 +1,369 @@
package com.mogo.eagle.core.function.business.routeoverlay;
import static com.mogo.map.MogoMap.DEFAULT;
import static com.mogo.map.MogoMap.SMALL_DES_MAP;
import static com.mogo.map.MogoMap.SMALL_PRED_MAP;
import static com.mogo.map.MogoMap.SMALL_PRED_MAP2;
import static com.mogo.map.MogoMap.SMALL_PRED_MAP3;
import android.annotation.SuppressLint;
import android.graphics.Color;
import android.os.Handler;
import android.os.HandlerThread;
import android.util.Log;
import androidx.core.util.Pools;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.IMogoMap;
import com.mogo.map.MogoMap;
import com.mogo.map.overlay.IMoGoOverlayManager;
import com.mogo.map.overlay.core.Level;
import com.mogo.map.overlay.line.Polyline;
import com.zhidaoauto.map.sdk.open.common.tools.MapTools;
import java.util.ArrayList;
import java.util.LinkedList;
import java.util.List;
import java.util.concurrent.CopyOnWriteArrayList;
import kotlin.Pair;
import mogo.telematics.pad.MessagePad;
public class PredictionOverlayDrawer {
private static final String TAG = "PredictionOverlayDrawer";
// 连接线参数
private Handler mRenderHandler;
private final IMoGoOverlayManager mogoOverlayManager;
private static volatile PredictionOverlayDrawer sInstance;
private static final byte[] obj = new byte[0];
private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5");
private final List<Integer> greenWaveColors = new ArrayList<>();
private PredictionOverlayDrawer() {
// 渐变色
mogoOverlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
if (mogoOverlayManager != null) {
// 线条粗细，渐变，渐变色值
HandlerThread renderTask = new HandlerThread("prediction_render") {
@Override
protected void onLooperPrepared() {
super.onLooperPrepared();
mRenderHandler = new Handler(getLooper());
}
};
renderTask.start();
ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
temps.add(new Pair<>(0, 51));
temps.add(new Pair<>(10, 102));
temps.add(new Pair<>(30, 51));
temps.add(new Pair<>(100, 0));
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
for (int i : alphas) {
greenWaveColors.add(Color.argb(i, 48, 163, 255));
}
}
}
}
public static PredictionOverlayDrawer getInstance() {
if (sInstance == null) {
synchronized (obj) {
if (sInstance == null) {
sInstance = new PredictionOverlayDrawer();
}
}
}
return sInstance;
}
public void clearPreRouteOverlay() {
if (mogoOverlayManager != null) {
if (mPreRenderTask != null) {
mRenderHandler.removeCallbacks(mPreRenderTask);
}
mogoOverlayManager.hideAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
}
}
private class RenderTask implements Runnable {
private volatile List<MogoLatLng> predictionList;
private final Pools.Pool<MogoLatLng> pools;
private final LinkedList<MogoLatLng> points;
private double bearing;
private boolean hasGreenWave;
private int preViewType;
private int largeType;
private Polyline.Options mPolylineOptions;
//用于taxi乘客屏渐变颜色集合
private List<Integer> colors = null;
public RenderTask() {
this.pools = new Pools.SimplePool<>(500);
this.points = new LinkedList<>();
mPolylineOptions = new Polyline.Options.Builder("prediction_overlay" + preViewType, Level.GUIDE_ROUTE_LINE)
.setUseGps(true)
.setWidth(20)
.setIsGradient(true)
.build();
}
public void setPreData(List<MogoLatLng> data, double bearing, boolean hasGreenWave, int preType, int largeType) {
predictionList = data;
this.bearing = bearing;
this.hasGreenWave = hasGreenWave;
preViewType = preType;
this.largeType = largeType;
}
@SuppressLint("LongLogTag")
@Override
public void run() {
IMoGoOverlayManager overlayManager = mogoOverlayManager;
if (overlayManager == null) {
return;
}
LinkedList<MogoLatLng> pps = this.points;
boolean isExcept = false;
int total;
try {
pps.clear();
List<MogoLatLng> routes = this.predictionList;
if (routes == null || (total = routes.size()) < 2) {
isExcept = true;
return;
}
boolean isColorfulStrategy = !hasGreenWave && !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.start();
} else {
if (colors == null || colors.isEmpty()) {
ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
temps.add(new Pair<>(0, 51));
temps.add(new Pair<>(10, 102));
temps.add(new Pair<>(30, 51));
temps.add(new Pair<>(100, 0));
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
colors = new CopyOnWriteArrayList<>();
for (int i : alphas) {
colors.add(Color.argb(i, 48, 163, 255));
}
}
}
}
for (int i = 0; i < total; i++) {
MogoLatLng route = null;
try {
route = routes.get(i);
if (route == null) {
continue;
}
} catch (Throwable t) {
Log.d("Route", "render-error:" + t.getMessage());
}
if (route == null) {
//数组越界了，结束循环
break;
}
MogoLatLng acquire = pools.acquire();
double latitude = route.getLat();
double longitude = route.getLon();
if (acquire == null) {
acquire = new MogoLatLng(latitude, longitude);
} else {
acquire.lon = longitude;
acquire.lat = latitude;
}
acquire.acc = 0.0;// 加速度
acquire.speed = 0.0;// 速度
pps.add(acquire);
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.check(0.0, 0.0, predictionList.size());
}
}
double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
if (!points.isEmpty()) {
MogoLatLng top = null;
while (!points.isEmpty()) {
MogoLatLng first = points.peek();
if (first == null) {
continue;
}
if (first == top) {
break;
}
lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
if (angle >= 90) {
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.remove(first.acc);
}
pools.release(first);
points.poll();
}
top = first;
}
if (points.isEmpty()) {
isExcept = true;
return;
}
MogoLatLng self = pools.acquire();
if (self == null) {
self = new MogoLatLng(lat, lon);
} else {
self.lat = lat;
self.lon = lon;
}
points.addFirst(self);
Polyline.Options.Builder builder;
if (mPolylineOptions == null) {
builder = new Polyline.Options.Builder("router_overlay", Level.GUIDE_ROUTE_LINE)
.setUseGps(true)
.setWidth(20)
.setIsGradient(true);
} else {
builder = mPolylineOptions.builder();
}
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.end();
Strategy strategy = RouteStrategy.INSTANCE.getStrategy();
List<Integer> colors = strategy.getColors();
boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn();
builder.colors(colors);
builder.setLightOn(isLightOn);
builder.setLightColor(COLOR_LIGHT);
builder.setLightSpeed(0.3f);
} else {
if (!hasGreenWave) {
if (colors != null && !colors.isEmpty()) {
builder.colors(colors);
builder.setIsGradient(true);
builder.setLightOn(true);
builder.isShowArrow(false);
builder.setLightColor(COLOR_LIGHT);
builder.setLightSpeed(0.3f);
}
} else {
builder.colors(greenWaveColors)
.setIsGradient(true)
.setLightOn(false)
.isShowArrow(true);
}
}
builder.points(points);
builder.setVisible(true);
Polyline.Options options = builder.build();
if (mPolylineOptions == null) {
mPolylineOptions = options;
}
if (FunctionBuildConfig.isDrawDecIdentifyData) {
if (preViewType == 2) {
overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP2);
} else if (preViewType == 3) {
overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP3);
}
if (preViewType == largeType) {
overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP);
}
}
} else {
isExcept = true;
}
} catch (Throwable t) {
t.printStackTrace();
} finally {
if (isExcept) {
setVisible(false);
}
if (!points.isEmpty()) {
for (int i = 0; i < points.size(); i++) {
MogoLatLng latLng = points.get(i);
if (latLng == null) {
continue;
}
pools.release(latLng);
}
}
}
}
private long isPointOnCarFront(double car_lon, double car_lat, double car_head, double lon, double lat) {
return DrivingDirectionUtils.getDegreeOfCar2Poi2(car_lon, car_lat, lon, lat, car_head);
}
}
private volatile RenderTask mPreRenderTask;
private volatile RenderTask mPreRenderTask2;
public void drawPredictionList(List<geometry.Geometry.Point> dataList, double bearing, boolean hasGreenWave, int preType, int largeType) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT);
double[] arr = null;
if (mogoOverlayManager != null && iMogoMap != null) {
if (mPreRenderTask == null) {
mPreRenderTask = new RenderTask();
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (geometry.Geometry.Point point : dataList) {
arr = iMogoMap.switchData(point.getX(), point.getY(), false);
if (arr == null || arr.length < 2) continue;
latLngList.add(new MogoLatLng(arr[1], arr[0]));
}
if (latLngList.isEmpty()) return;
mPreRenderTask.setPreData(latLngList, bearing, hasGreenWave, preType, largeType);
if (mRenderHandler != null) {
mRenderHandler.removeCallbacks(mPreRenderTask);
mRenderHandler.post(mPreRenderTask);
}
}
}
public void drawPredictionList2(List<geometry.Geometry.Point> dataList, double bearing, boolean hasGreenWave, int preType, int largeType) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT);
double[] arr = null;
if (mogoOverlayManager != null) {
if (mPreRenderTask2 == null) {
mPreRenderTask2 = new RenderTask();
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (geometry.Geometry.Point point : dataList) {
arr = iMogoMap.switchData(point.getX(), point.getY(), false);
if (arr == null || arr.length < 2) continue;
latLngList.add(new MogoLatLng(arr[0], arr[1]));
}
if (latLngList.isEmpty()) return;
mPreRenderTask2.setPreData(latLngList, bearing, hasGreenWave, preType, largeType);
if (mRenderHandler != null) {
mRenderHandler.removeCallbacks(mPreRenderTask2);
mRenderHandler.post(mPreRenderTask2);
}
}
}
public void setVisible(boolean isVisible) {
if (mogoOverlayManager != null) {
if (isVisible) {
mogoOverlayManager.showAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
} else {
mogoOverlayManager.hideAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
}
}
}
}

344
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java Normal file
View File

@@ -0,0 +1,344 @@
package com.mogo.eagle.core.function.business.routeoverlay;
import static com.mogo.map.MogoMap.DEFAULT;
import static com.mogo.map.MogoMap.SMALL_PRED_MAP;
import static com.mogo.map.MogoMap.SMALL_PRED_MAP2;
import static com.mogo.map.MogoMap.SMALL_PRED_MAP3;
import android.annotation.SuppressLint;
import android.graphics.Color;
import android.os.Handler;
import android.os.HandlerThread;
import android.util.Log;
import androidx.core.util.Pools;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.IMogoMap;
import com.mogo.map.MogoMap;
import com.mogo.map.overlay.IMoGoOverlayManager;
import com.mogo.map.overlay.core.Level;
import com.mogo.map.overlay.line.Polyline;
import com.zhidaoauto.map.sdk.open.common.tools.MapTools;
import java.util.ArrayList;
import java.util.LinkedList;
import java.util.List;
import java.util.concurrent.CopyOnWriteArrayList;
import kotlin.Pair;
public class PredictionOverlayDrawer2 {
private static final String TAG = "PredictionOverlayDrawer2";
// 连接线参数
private Handler mRenderHandler;
private final IMoGoOverlayManager mogoOverlayManager;
private static volatile PredictionOverlayDrawer2 sInstance;
private static final byte[] obj = new byte[0];
private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5");
private final List<Integer> greenWaveColors = new ArrayList<>();
private PredictionOverlayDrawer2() {
// 渐变色
mogoOverlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
if (mogoOverlayManager != null) {
// 线条粗细，渐变，渐变色值
HandlerThread renderTask = new HandlerThread("prediction_render") {
@Override
protected void onLooperPrepared() {
super.onLooperPrepared();
mRenderHandler = new Handler(getLooper());
}
};
renderTask.start();
ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
temps.add(new Pair<>(0, 51));
temps.add(new Pair<>(10, 102));
temps.add(new Pair<>(30, 51));
temps.add(new Pair<>(100, 0));
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
for (int i : alphas) {
greenWaveColors.add(Color.argb(i, 48, 163, 255));
}
}
}
}
public static PredictionOverlayDrawer2 getInstance() {
if (sInstance == null) {
synchronized (obj) {
if (sInstance == null) {
sInstance = new PredictionOverlayDrawer2();
}
}
}
return sInstance;
}
public void clearPreRouteOverlay() {
if (mogoOverlayManager != null) {
if (mPreRenderTask != null) {
mRenderHandler.removeCallbacks(mPreRenderTask);
}
mogoOverlayManager.hideAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
}
}
private class RenderTask implements Runnable {
private volatile List<MogoLatLng> predictionList;
private final Pools.Pool<MogoLatLng> pools;
private final LinkedList<MogoLatLng> points;
private double bearing;
private boolean hasGreenWave;
private int preViewType;
private int largeType;
private Polyline.Options mPolylineOptions;
//用于taxi乘客屏渐变颜色集合
private List<Integer> colors = null;
public RenderTask() {
this.pools = new Pools.SimplePool<>(500);
this.points = new LinkedList<>();
mPolylineOptions = new Polyline.Options.Builder("prediction_overlay" + preViewType, Level.GUIDE_ROUTE_LINE)
.setUseGps(true)
.setWidth(20)
.setIsGradient(true)
.build();
}
public void setPreData(List<MogoLatLng> data, double bearing, boolean hasGreenWave, int preType, int largeType) {
predictionList = data;
this.bearing = bearing;
this.hasGreenWave = hasGreenWave;
preViewType = preType;
this.largeType = largeType;
}
@SuppressLint("LongLogTag")
@Override
public void run() {
IMoGoOverlayManager overlayManager = mogoOverlayManager;
if (overlayManager == null) {
return;
}
LinkedList<MogoLatLng> pps = this.points;
boolean isExcept = false;
int total;
try {
pps.clear();
List<MogoLatLng> routes = this.predictionList;
if (routes == null || (total = routes.size()) < 2) {
isExcept = true;
return;
}
boolean isColorfulStrategy = !hasGreenWave && !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.start();
} else {
if (colors == null || colors.isEmpty()) {
ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
temps.add(new Pair<>(0, 51));
temps.add(new Pair<>(10, 102));
temps.add(new Pair<>(30, 51));
temps.add(new Pair<>(100, 0));
List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
if (alphas != null && !alphas.isEmpty()) {
colors = new CopyOnWriteArrayList<>();
for (int i : alphas) {
colors.add(Color.argb(i, 48, 163, 255));
}
}
}
}
for (int i = 0; i < total; i++) {
MogoLatLng route = null;
try {
route = routes.get(i);
if (route == null) {
continue;
}
} catch (Throwable t) {
Log.d("Route", "render-error:" + t.getMessage());
}
if (route == null) {
//数组越界了，结束循环
break;
}
MogoLatLng acquire = pools.acquire();
double latitude = route.getLat();
double longitude = route.getLon();
if (acquire == null) {
acquire = new MogoLatLng(latitude, longitude);
} else {
acquire.lon = longitude;
acquire.lat = latitude;
}
acquire.acc = 0.0;// 加速度
acquire.speed = 0.0;// 速度
pps.add(acquire);
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.check(0.0, 0.0, predictionList.size());
}
}
double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
if (!points.isEmpty()) {
MogoLatLng top = null;
while (!points.isEmpty()) {
MogoLatLng first = points.peek();
if (first == null) {
continue;
}
if (first == top) {
break;
}
lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
if (angle >= 90) {
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.remove(first.acc);
}
pools.release(first);
points.poll();
}
top = first;
}
if (points.isEmpty()) {
isExcept = true;
return;
}
MogoLatLng self = pools.acquire();
if (self == null) {
self = new MogoLatLng(lat, lon);
} else {
self.lat = lat;
self.lon = lon;
}
points.addFirst(self);
Polyline.Options.Builder builder;
if (mPolylineOptions == null) {
builder = new Polyline.Options.Builder("router_overlay", Level.GUIDE_ROUTE_LINE)
.setUseGps(true)
.setWidth(20)
.setIsGradient(true);
} else {
builder = mPolylineOptions.builder();
}
if (isColorfulStrategy) {
RouteStrategy.INSTANCE.end();
Strategy strategy = RouteStrategy.INSTANCE.getStrategy();
List<Integer> colors = strategy.getColors();
boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn();
builder.colors(colors);
builder.setLightOn(isLightOn);
builder.setLightColor(COLOR_LIGHT);
builder.setLightSpeed(0.3f);
} else {
if (!hasGreenWave) {
if (colors != null && !colors.isEmpty()) {
builder.colors(colors);
builder.setIsGradient(true);
builder.setLightOn(true);
builder.isShowArrow(false);
builder.setLightColor(COLOR_LIGHT);
builder.setLightSpeed(0.3f);
}
} else {
builder.colors(greenWaveColors)
.setIsGradient(true)
.setLightOn(false)
.isShowArrow(true);
}
}
builder.points(points);
builder.setVisible(true);
Polyline.Options options = builder.build();
if (mPolylineOptions == null) {
mPolylineOptions = options;
}
if (FunctionBuildConfig.isDrawDecIdentifyData) {
if (preViewType == 2) {
overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP2);
} else if (preViewType == 3) {
overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP3);
}
if (preViewType == largeType) {
overlayManager.showOrUpdateLine(options, SMALL_PRED_MAP);
}
}
} else {
isExcept = true;
}
} catch (Throwable t) {
t.printStackTrace();
} finally {
if (isExcept) {
setVisible(false);
}
if (!points.isEmpty()) {
for (int i = 0; i < points.size(); i++) {
MogoLatLng latLng = points.get(i);
if (latLng == null) {
continue;
}
pools.release(latLng);
}
}
}
}
private long isPointOnCarFront(double car_lon, double car_lat, double car_head, double lon, double lat) {
return DrivingDirectionUtils.getDegreeOfCar2Poi2(car_lon, car_lat, lon, lat, car_head);
}
}
private volatile RenderTask mPreRenderTask;
public void drawPredictionList(List<geometry.Geometry.Point> dataList, double bearing, boolean hasGreenWave, int preType, int largeType) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT);
double[] arr = null;
if (mogoOverlayManager != null && iMogoMap != null) {
if (mPreRenderTask == null) {
mPreRenderTask = new RenderTask();
}
List<MogoLatLng> latLngList = new ArrayList<>();
for (geometry.Geometry.Point point : dataList) {
arr = iMogoMap.switchData(point.getX(), point.getY(), false);
if (arr == null || arr.length < 2) continue;
latLngList.add(new MogoLatLng(arr[1], arr[0]));
}
if (latLngList.isEmpty()) return;
mPreRenderTask.setPreData(latLngList, bearing, hasGreenWave, preType, largeType);
if (mRenderHandler != null) {
mRenderHandler.removeCallbacks(mPreRenderTask);
mRenderHandler.post(mPreRenderTask);
}
}
}
public void setVisible(boolean isVisible) {
if (mogoOverlayManager != null) {
if (isVisible) {
mogoOverlayManager.showAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
} else {
mogoOverlayManager.hideAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
}
}
}
}

4
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
View File

@@ -267,7 +267,9 @@ public class RouteOverlayDrawer {
mPolylineOptions = options;
}
overlayManager.showOrUpdateLine(options,DEFAULT);
overlayManager.showOrUpdateLine(options,SMALL_DES_MAP);
if (FunctionBuildConfig.isDrawDecIdentifyData) {
overlayManager.showOrUpdateLine(options,SMALL_DES_MAP);
}
} else {
isExcept = true;
}

45
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/LocationUtils.kt Normal file
View File

@@ -0,0 +1,45 @@
package com.mogo.eagle.core.function.utils
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
import com.mogo.map.MogoMap
import com.mogo.map.MogoMap.Companion.mapInstance
object LocationUtils {
/**
* 必须先根据定位计算度带，即调用switchData(gnssInfo.longitude, gnssInfo.latitude, true)
*/
fun generateLocation(x: Double, y: Double, heading: Double): MogoLocation? {
val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
if (mogoMap != null) {
val lonLat = mogoMap.switchData(x, y, false)
if (lonLat == null || lonLat.size < 2) return null
val location = MogoLocation()
location.longitude = lonLat[0]
location.latitude = lonLat[1]
location.heading = heading
return location
} else {
return null
}
}
/**
* 同上,必须先根据定位计算度带
*/
fun generateLocation(x: Double, y: Double, preX: Double, preY: Double): MogoLocation? {
val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
if (mogoMap != null) {
val lonLat = mogoMap.switchData(x, y, false)
val preLonLat = mogoMap.switchData(preX, preY, false)
if (lonLat == null || lonLat.size < 2 || preLonLat == null || preLonLat.size < 2) return null
val location = MogoLocation()
location.longitude = lonLat[0]
location.latitude = lonLat[1]
location.heading = DrivingDirectionUtils.getLineAngle(lonLat[0], lonLat[1], preLonLat[0], preLonLat[1])
return location
} else {
return null
}
}
}

3
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt
View File

@@ -109,7 +109,6 @@ class PredictionMap2View(context: Context, attrs: AttributeSet) : MogoMapView(co
override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
// 跟新地图控件
setExtraGPSData(gnssInfo)
// setExtraGPSData(gnssInfo)
}
}

2
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt
View File

@@ -109,7 +109,7 @@ class PredictionMap3View(context: Context, attrs: AttributeSet) : MogoMapView(co
override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
// 跟新地图控件
setExtraGPSData(gnssInfo)
// setExtraGPSData(gnssInfo)
}
}

14
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt
View File

@@ -11,12 +11,13 @@ import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.view.PredictionMap2View.Companion
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
import com.mogo.eagle.core.widget.media.video.TextureVideoViewOutlineProvider
import com.mogo.map.MogoMap
import com.mogo.map.MogoMap.Companion.SMALL_PRED_MAP
import com.mogo.map.MogoMap.Companion.mapInstance
import com.mogo.map.MogoMapView
import com.zhidaoauto.map.sdk.open.abs.OnMapLoadedListener
import com.zhidaoauto.map.sdk.open.view.HDTypes
@@ -42,6 +43,9 @@ class PredictionMapView(context: Context, attrs: AttributeSet) : MogoMapView(con
// typedArray.recycle()
// }
@Volatile
private var lastTime: Long = 0L
override fun onAttachedToWindow() {
super.onAttachedToWindow()
initMapView()
@@ -118,7 +122,11 @@ class PredictionMapView(context: Context, attrs: AttributeSet) : MogoMapView(con
override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
// 跟新地图控件
setExtraGPSData(gnssInfo)
// setExtraGPSData(gnssInfo)
if (System.currentTimeMillis() - lastTime >= 5000) {
// 预测给的UTM坐标数据没有带上度带信息，根据定位计算度带
mapInstance.getMogoMap(MogoMap.DEFAULT)?.switchData(gnssInfo.longitude, gnssInfo.latitude, true)
lastTime = System.currentTimeMillis()
}
}
}

14
core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
View File

@@ -231,6 +231,20 @@ object FunctionBuildConfig {
@JvmField
var isDrawPointCloudData = false
/**
* 地图是否绘制预测数据的Marker
*/
@Volatile
@JvmField
var isDrawPreIdentifyData = false
/**
* 地图是否绘制决策数据的Marker
*/
@Volatile
@JvmField
var isDrawDecIdentifyData = false
/**
* 自车是否展示光圈(6.2.6版本改为默认展示)
* true - 展示

28
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
View File

@@ -15,34 +15,6 @@ import prediction2025.Prediction2025
*/
object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentifyListener>() {
private val typeMap: Map<Adas.TrackedObjectType, Adas.TrackedObjectClassID> = mapOf(
Adas.TrackedObjectType.TYPE_PEDESTRIAN to Adas.TrackedObjectClassID.Person,
Adas.TrackedObjectType.TYPE_MOTOR to Adas.TrackedObjectClassID.MotorCycle,
Adas.TrackedObjectType.TYPE_BICYCLE to Adas.TrackedObjectClassID.Bicycle,
Adas.TrackedObjectType.TYPE_CAR to Adas.TrackedObjectClassID.Car,
Adas.TrackedObjectType.TYPE_TRUCK to Adas.TrackedObjectClassID.Truck,
Adas.TrackedObjectType.TYPE_BUS to Adas.TrackedObjectClassID.Bus,
Adas.TrackedObjectType.TYPE_WARNINGTRIANGLE to Adas.TrackedObjectClassID.WarningTriangle,
Adas.TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501 to Adas.TrackedObjectClassID.RoadWork_occupy_0501,
Adas.TrackedObjectType.TYPE_ROADWORK_BREAK_0502 to Adas.TrackedObjectClassID.RoadWork_break_0502,
Adas.TrackedObjectType.TYPE_ROAD_CONGESTION to Adas.TrackedObjectClassID.ROAD_CONGESTION
)
/**
* 域控障碍物类型转换成鹰眼使用的类型
*
* @param classType 域控障碍物类型（目前只有Prediction2025.mPredictionObjects.objs_app.classtype 是域控的障碍物类型）
* @return 障碍物类型 与 message_pad中的TrackedObjects 的 objs.type 类型一致
*/
fun trackedObjectTypeTransform(classType: Int): Int {
var type = Adas.TrackedObjectType.forNumber(classType)
if (type == null) {
type = Adas.TrackedObjectType.TYPE_UNKNOWN
}
val classId = typeMap[type] ?: Adas.TrackedObjectClassID.Unknown
return classId.number
}
/**
* 识别交通元素数据发生更新 回调
*/

5
libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt
View File

@@ -7,6 +7,7 @@ import com.mogo.map.overlay.proxy.point.IMapPointOverlay
import com.mogo.map.overlay.proxy.line.IMapPolylineOverlay
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.HashMap
/**
@@ -51,6 +52,8 @@ interface IMogoMap {
*/
fun updateBatchAiMarkerPosition(optionsArrayList: HashMap<String, SocketDownData.CloudRoadDataProto>?)
fun updatePreMarkerPosition(optionsArrayList: HashMap<String, Prediction2025.mPredictionObjectApp>?)
/**
* 添加感知使用到的3d模型
*
@@ -65,4 +68,6 @@ interface IMogoMap {
* @param uuidString
*/
fun removeMarker(uuidString: String?)
fun switchData(x: Double, y: Double, isWgs84: Boolean): DoubleArray?
}

13
libraries/mogo-map-api/src/main/java/com/mogo/map/identity/IMogoIdentifyManager.kt
View File

@@ -1,8 +1,10 @@
package com.mogo.map.identity
import com.mogo.eagle.core.data.map.MogoLocation
import com.mogo.map.MogoMap
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.HashMap
/**
@@ -29,4 +31,15 @@ interface IMogoIdentifyManager {
* @param optionsArrayList 锚点集合
*/
fun updateBatchAiMarkerPosition(optionsArrayList: HashMap<String, SocketDownData.CloudRoadDataProto>, mapInstance:String = MogoMap.DEFAULT)
/**
* 批量更新预测数据对应的锚点位置
*
* @param optionsArrayList 锚点集合
*/
fun updatePreMarkerPosition(optionsArrayList: HashMap<String, Prediction2025.mPredictionObjectApp>, mapInstance:String)
fun updateGps(gnssInfo: MogoLocation, mapInstance: String)
fun updateUTM(carX: Double, carY: Double, preX: Double, preY: Double, mapInstance: String)
}

1
libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/line/Polyline.kt
View File

@@ -219,6 +219,7 @@ data class Polyline(val id: String, val owner: String, val level: Level, val opt
}
private fun str2Int(tag: String): Int {
if (tag.isEmpty()) return 0
var sum = 0
for (c in tag) {
sum += c.code

39
libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt
View File

@@ -21,6 +21,7 @@ import com.zhidaoauto.map.sdk.open.view.MapAutoView
import com.zhidaoauto.map.sdk.open.view.MapAutoViewHelper
import mogo.telematics.pad.MessagePad.TrackedObject
import mogo.yycp.api.proto.SocketDownData
import prediction2025.Prediction2025
import java.util.function.BiConsumer
/**
@@ -176,6 +177,40 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
}
}
var preMarkerOptions = BatchMarkerOptions()
@SuppressLint("NewApi")
override fun updatePreMarkerPosition(optionsArrayList: java.util.HashMap<String, Prediction2025.mPredictionObjectApp>?) {
if (!checkAMap()) {
return
}
if (optionsArrayList == null || optionsArrayList.size == 0) {
return
}
val markerOptionsArrayList = ArrayList<MarkerSimpleData>()
optionsArrayList.forEach(BiConsumer { s: String?, preObject: Prediction2025.mPredictionObjectApp? ->
val markerOptions = ObjectUtils.fromPreData(preObject)
if (markerOptions != null) {
markerOptionsArrayList.add(markerOptions)
}
})
if (markerOptionsArrayList.size == 0) {
return
}
// val time = markerOptionsArrayList[0].time
// 最后一个参数，是否管理锚点的删除
preMarkerOptions.list = markerOptionsArrayList
preMarkerOptions.delayStrategy = false
preMarkerOptions.ruleAngle = 8.0f
preMarkerOptions.controlIcon = 1
// // marker做动画时需用到(要么一直不传，要么一直都传)
// preMarkerOptions.satelliteTime = time
preMarkerOptions.deleteRule = 0
if (mMapView.getMarkerController() != null) {
mMapView.getMarkerController()!!.updateBatchMarkerPositon(preMarkerOptions)
}
}
override fun addPreVehicleModel(type: Int, modelRes: Int): String? {
try {
if (mMapView.getMarkerController() != null) {
@@ -205,4 +240,8 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
}
return true
}
override fun switchData(x: Double, y: Double, isWgs84: Boolean): DoubleArray? {
return mAMap?.switchData(x, y, isWgs84)
}
}

43
libraries/mogo-map/src/main/java/com/mogo/map/identify/MogoIdentifyManager.java
View File

@@ -1,11 +1,18 @@
package com.mogo.map.identify;
import static com.mogo.map.MogoMap.DEFAULT;
import androidx.annotation.NonNull;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.IMogoMap;
import com.mogo.map.MogoMap;
import com.mogo.map.identity.IMogoIdentifyManager;
import java.util.HashMap;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
import prediction2025.Prediction2025;
/**
* @author congtaowang
@@ -69,4 +76,40 @@ public class MogoIdentifyManager implements IMogoIdentifyManager {
}
}
@Override
public void updatePreMarkerPosition(@NonNull HashMap<String, Prediction2025.mPredictionObjectApp> optionsArrayList, @NonNull String mapInstance) {
try {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(mapInstance);
if(iMogoMap != null){
iMogoMap.updatePreMarkerPosition(optionsArrayList);
}
} catch (Exception e) {
e.printStackTrace();
}
}
public void updateGps(MogoLocation gnssInfo, @NonNull String mapInstance) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(mapInstance);
if(iMogoMap != null){
iMogoMap.getUiController().setExtraGPSData(gnssInfo);
}
}
@Override
public void updateUTM(double carX, double carY, double preX, double preY, @NonNull String mapInstance) {
IMogoMap iMogoMap = MogoMap.Companion.getMapInstance().getMogoMap(DEFAULT);// 同一个地图实例保存根据定位计算度带后的值
IMogoMap mogoMap2 = MogoMap.Companion.getMapInstance().getMogoMap(mapInstance);
if(iMogoMap != null && mogoMap2 != null){
double[] arr = iMogoMap.switchData(carX, carY, false);
double[] preArr = iMogoMap.switchData(preX, preY, false);
if (arr != null && arr.length == 2 && preArr != null && preArr.length == 2) {
double angle = DrivingDirectionUtils.getLineAngle(arr[0], arr[1], preArr[0], preArr[1]);
MogoLocation location = new MogoLocation();
location.setHeading(angle);
location.setLongitude(arr[0]);
location.setLatitude(arr[1]);
mogoMap2.getUiController().setExtraGPSData(location);
}
}
}
}

66
libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
View File

@@ -8,6 +8,7 @@ import android.view.View;
import com.mogo.eagle.core.data.config.FunctionBuildConfig;
import com.mogo.eagle.core.data.map.MogoLatLng;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
import com.mogo.map.overlay.line.Polyline;
import com.mogo.map.overlay.point.Point;
import com.mogo.map.uicontroller.MapCameraPosition;
@@ -19,12 +20,15 @@ import com.zhidaoauto.map.sdk.open.renders.marker.MarkerOptions;
import com.zhidaoauto.map.sdk.open.renders.marker.MarkerSimpleData;
import com.zhidaoauto.map.sdk.open.renders.poyline.PolylineOptions;
import com.zhidaoauto.map.sdk.open.view.MapAutoView;
import com.zhjt.mogo.adas.data.Adas;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import mogo.telematics.pad.MessagePad;
import mogo.yycp.api.proto.SocketDownData;
import prediction2025.Prediction2025;
/**
* @author congtaowang
@@ -34,6 +38,19 @@ import mogo.yycp.api.proto.SocketDownData;
*/
public class ObjectUtils {
private static Map<Adas.TrackedObjectType, Adas.TrackedObjectClassID> sTypeMap = Map.of(
Adas.TrackedObjectType.TYPE_PEDESTRIAN, Adas.TrackedObjectClassID.Person,
Adas.TrackedObjectType.TYPE_MOTOR, Adas.TrackedObjectClassID.MotorCycle,
Adas.TrackedObjectType.TYPE_BICYCLE, Adas.TrackedObjectClassID.Bicycle,
Adas.TrackedObjectType.TYPE_CAR, Adas.TrackedObjectClassID.Car,
Adas.TrackedObjectType.TYPE_TRUCK, Adas.TrackedObjectClassID.Truck,
Adas.TrackedObjectType.TYPE_BUS, Adas.TrackedObjectClassID.Bus,
Adas.TrackedObjectType.TYPE_WARNINGTRIANGLE, Adas.TrackedObjectClassID.WarningTriangle,
Adas.TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501, Adas.TrackedObjectClassID.RoadWork_occupy_0501,
Adas.TrackedObjectType.TYPE_ROADWORK_BREAK_0502, Adas.TrackedObjectClassID.RoadWork_break_0502,
Adas.TrackedObjectType.TYPE_ROAD_CONGESTION, Adas.TrackedObjectClassID.ROAD_CONGESTION
);
public static MarkerOptions fromMogo(Point.Options opt, MapAutoView mapAutoView) {
if (opt == null) {
@@ -174,6 +191,55 @@ public class ObjectUtils {
return markerOptions;
}
public static MarkerSimpleData fromPreData(Prediction2025.mPredictionObjectApp preData) {
if (preData == null || preData.getMNid() == 800000) {// 过滤掉自车
return null;
}
MarkerSimpleData markerOptions = null;
try {
markerOptions = new MarkerSimpleData();
markerOptions.setId(preData.getMNid());
markerOptions.setMarkerType(trackedObjectTypeTransform(preData.getClasstype()));
markerOptions.setRotateAngle(getPredictionHeading(preData));
// 自车2条轨迹，它车1条轨迹；每条轨迹的第一个点为位置，其它点为预测轨迹点
markerOptions.setLat(preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList().get(0).getX());
markerOptions.setLon(preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList().get(0).getY());
// marker做动画时需用到(要么一直不传，要么一直都传)
// markerOptions.setTime(Double.valueOf(preData.getSatelliteTime() * 1000).longValue());
markerOptions.setColor("#90ABCAFF");
} catch (Exception e) {
e.printStackTrace();
}
return markerOptions;
}
/**
* 域控障碍物类型转换成鹰眼使用的类型
*
* @param classType 域控障碍物类型（目前只有Prediction2025.mPredictionObjects.objs_app.classtype 是域控的障碍物类型）
* @return 障碍物类型 与 message_pad中的TrackedObjects 的 objs.type 类型一致
*/
private static int trackedObjectTypeTransform(int classType) {
Adas.TrackedObjectType type = Adas.TrackedObjectType.forNumber(classType);
if (type == null) {
type = Adas.TrackedObjectType.TYPE_UNKNOWN;
}
Adas.TrackedObjectClassID classID = sTypeMap.get(type);
if (classID == null) {
classID = Adas.TrackedObjectClassID.Unknown;
}
return classID.getNumber();
}
private static float getPredictionHeading(Prediction2025.mPredictionObjectApp preData) {
List<geometry.Geometry.Point> pointList = preData.getPredictionTrajectoryList().get(0).getTrajectoryPointsList();
if (pointList.size() >= 2) {
return (float) DrivingDirectionUtils.getLineAngle(pointList.get(0).getX(), pointList.get(0).getY(), pointList.get(1).getX(), pointList.get(1).getY());
} else {
return 0;
}
}
private static BitmapDescriptor getBitmapDescriptorFromMogo(Bitmap icon, View view) {
if (icon != null) {
return BitmapDescriptorFactory.INSTANCE.fromBitmap(icon);