diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt index ec16126610..e687c5bceb 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt @@ -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?) { + + } + + fun renderPredictionResult(predictionObjectList: List?, mapInstance:String) { + + } + fun renderPlanningWarningObj(planningObjects: List?) { } @@ -34,4 +43,8 @@ interface Identify { fun clearAiMarker(mapInstance:String) { } + + fun clearPredictionMarker(mapInstance:String) { + + } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt index 151b381a8a..53ace30ffa 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt @@ -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 + 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?) @@ -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?) { + val message = Message.obtain() + message.what = MSG_DATA_PRE_TRACK + message.obj = predictionObjectList + mDrawerHandler.sendMessage(message) + } + override fun renderAiCloudResult( resultList: List, 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() diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt index c6905b9869..c384b08074 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt @@ -87,6 +87,45 @@ class IdentifyOriginDataDrawer : Identify { } } + override fun renderAdasRegResult(resultList: List?, 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 * diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyNewDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt similarity index 50% rename from core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyNewDataDrawer.kt rename to core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt index 2dd2d79e0a..f9a26cb2d3 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyNewDataDrawer.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyPredictionDataDrawer.kt @@ -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() + private val mMarkersCaches = ConcurrentHashMap() /** * 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() - - @SuppressLint("NewApi") - override fun renderPlanningWarningObj(planningObjects: List?) { - WarningHelper.renderPlanningOriginWarningObj(planningObjects, mMarkersCaches) - } + private val mFilterTrafficData = HashMap() 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?, mapInstance:String) { - if (resultList == null || resultList.isEmpty()) { + override fun renderPredictionResult( + predictionObjectList: List?, + 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): HashMap { + private fun filterTrafficData(trafficData: List): HashMap { 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() } - } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt index e59cef6c39..bf023ed016 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt @@ -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? = null + private var carPoiList2: List? = 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, mapInstance:String = MogoMap.DEFAULT) { try { ThreadUtils.getSinglePool().execute { diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java index 2908c58310..82f86ee936 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java @@ -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 ---"); diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java new file mode 100644 index 0000000000..f239623118 --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java @@ -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 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> 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 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 predictionList; + + private final Pools.Pool pools; + private final LinkedList 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 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 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 pps = this.points; + boolean isExcept = false; + int total; + + try { + pps.clear(); + List 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> 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 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 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 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 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 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 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); + } + } + } +} diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java new file mode 100644 index 0000000000..c882c7e808 --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer2.java @@ -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 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> 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 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 predictionList; + + private final Pools.Pool pools; + private final LinkedList 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 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 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 pps = this.points; + boolean isExcept = false; + int total; + + try { + pps.clear(); + List 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> 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 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 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 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 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); + } + } + } +} diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java index 546d37b638..512a7941f5 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java @@ -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; } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/LocationUtils.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/LocationUtils.kt new file mode 100644 index 0000000000..ad31633888 --- /dev/null +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/LocationUtils.kt @@ -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 + } + } +} \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt index 5c197ccb8e..1515d7c40b 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt @@ -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) } - } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt index c30344b442..0cd8608d8a 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt @@ -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) } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt index 27e0981c8c..37863c5625 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt @@ -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() + } } - } diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt index fb60f245a3..aa7c97d2f7 100644 --- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt +++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt @@ -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 diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt index f0c4e38004..20b0ac70d9 100644 --- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt +++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt @@ -15,34 +15,6 @@ import prediction2025.Prediction2025 */ object CallerAutopilotIdentifyListenerManager : CallerBase() { - private val typeMap: Map = 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 */ diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt index e7ed9a56eb..5860dac2c5 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt @@ -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?) + fun updatePreMarkerPosition(optionsArrayList: HashMap?) + /** * 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? } \ No newline at end of file diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/identity/IMogoIdentifyManager.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/identity/IMogoIdentifyManager.kt index 08b9acfa9d..eac752164a 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/identity/IMogoIdentifyManager.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/identity/IMogoIdentifyManager.kt @@ -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, 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, mapInstance:String) + + fun updateGps(gnssInfo: MogoLocation, mapInstance: String) + + fun updateUTM(carX: Double, carY: Double, preX: Double, preY: Double, mapInstance: String) } \ No newline at end of file diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/line/Polyline.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/line/Polyline.kt index c33b48ed8e..0c415aa0d7 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/line/Polyline.kt +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/line/Polyline.kt @@ -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 diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt index 6184d12bb3..381be25bcb 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt +++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt @@ -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?) { + if (!checkAMap()) { + return + } + if (optionsArrayList == null || optionsArrayList.size == 0) { + return + } + val markerOptionsArrayList = ArrayList() + 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) + } } \ No newline at end of file diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/identify/MogoIdentifyManager.java b/libraries/mogo-map/src/main/java/com/mogo/map/identify/MogoIdentifyManager.java index 0f7d84edf4..80fe581d73 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/identify/MogoIdentifyManager.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/identify/MogoIdentifyManager.java @@ -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 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); + } + } + } } diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java b/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java index a5926a9c36..6ad38b7b40 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java @@ -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 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 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);