diff --git a/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java b/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java index acc7454a10..ef027bcaac 100644 --- a/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java +++ b/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java @@ -110,6 +110,9 @@ public class AppUtils { * @return true 表示正在运行，false 表示没有运行 */ public static boolean isProcessRunning( Context context, int uid ) { + if ( context == null ) { + return false; + } ActivityManager am = ( ActivityManager ) context.getSystemService( Context.ACTIVITY_SERVICE ); List< ActivityManager.RunningServiceInfo > runningServiceInfos = am.getRunningServices( 200 ); if ( runningServiceInfos.size() > 0 ) { diff --git a/foudations/mogo-utils/src/main/java/com/mogo/utils/WorkThreadHandler.java b/foudations/mogo-utils/src/main/java/com/mogo/utils/WorkThreadHandler.java index 6411267066..64d967c261 100644 --- a/foudations/mogo-utils/src/main/java/com/mogo/utils/WorkThreadHandler.java +++ b/foudations/mogo-utils/src/main/java/com/mogo/utils/WorkThreadHandler.java @@ -16,14 +16,23 @@ public class WorkThreadHandler { private Handler mHandler; private HandlerThread mThread; - private WorkThreadHandler() { + public static WorkThreadHandler newInstance( String name ) { + return new WorkThreadHandler( name ); + } + + private WorkThreadHandler( String name ) { // private constructor - mThread = new HandlerThread( "work-thread-handler" ); + mThread = new HandlerThread( name ); mThread.start(); mThreadLooper = mThread.getLooper(); mHandler = new Handler( mThreadLooper ); } + private WorkThreadHandler() { + // private constructor + this( "work-thread-handler" ); + } + private static final class InstanceHolder { private static final WorkThreadHandler INSTANCE = new WorkThreadHandler(); } diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java index ed15b120db..d22f3a4cee 100644 --- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java +++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/AMapNaviViewWrapper.java @@ -171,7 +171,7 @@ public class AMapNaviViewWrapper implements IMogoMapView, } mMapView.setRouteOverlayVisible( false ); mMapView.setCarOverlayVisible( false ); - setUIMode( EnumMapUI.CarUp_2D, null ); + setUIMode( EnumMapUI.NorthUP_2D, null ); } private void initListeners() { diff --git a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java index 679e008277..23df861a49 100644 --- a/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java +++ b/libraries/map-amap/src/main/java/com/mogo/map/impl/amap/marker/AMapMarkerWrapper.java @@ -16,6 +16,7 @@ import com.amap.api.maps.model.animation.AnimationSet; import com.amap.api.maps.model.animation.ScaleAnimation; import com.amap.api.maps.model.animation.TranslateAnimation; import com.amap.api.maps.utils.overlay.MovingPointOverlay; +import com.autonavi.amap.mapcore.IPoint; import com.mogo.commons.AbsMogoApplication; import com.mogo.map.MogoLatLng; import com.mogo.map.impl.amap.AMapWrapper; @@ -517,4 +518,11 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer { } return mMarker.isInfoWindowShown(); } + + @Override + public void setGps( boolean isGps ) { + MarkerOptions options = mMarker.getOptions(); + options.setGps( isGps ); + mMarker.setMarkerOptions( options ); + } } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java index 86f008e7e0..4a6b17c1d0 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/marker/AMapMarkerWrapper.java @@ -485,4 +485,11 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer { public boolean isInfoWindowShowing() { return mMarker.isInfoWindowShown(); } + + @Override + public void setGps( boolean isGps ) { + if ( mMarker != null ) { + mMarker.setGps( isGps ); + } + } } diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java index aad7e314fb..74e837f5a7 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/MogoLatLng.java @@ -3,6 +3,8 @@ package com.mogo.map; import android.os.Parcel; import android.os.Parcelable; +import java.util.Objects; + /** * @author congtaowang * @since 2019-12-18 @@ -40,6 +42,21 @@ public class MogoLatLng implements Parcelable { return lon; } + + @Override + public boolean equals( Object o ) { + if ( this == o ) return true; + if ( o == null || getClass() != o.getClass() ) return false; + MogoLatLng latLng = ( MogoLatLng ) o; + return Double.compare( latLng.lat, lat ) == 0 && + Double.compare( latLng.lon, lon ) == 0; + } + + @Override + public int hashCode() { + return Objects.hash( lat, lng, lon ); + } + @Override public String toString() { return "MogoLatLng{" + diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java index 841a240338..7fc854f3d1 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarker.java @@ -324,4 +324,10 @@ public interface IMogoMarker { * @return */ boolean isInfoWindowShowing(); + + /** + * 设置是否是gps + * @param isGps + */ + void setGps(boolean isGps); } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java index 12bfb506b6..345502ad6f 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java @@ -1,7 +1,6 @@ package com.mogo.module.common.drawer; import android.content.Context; -import android.graphics.BitmapFactory; import android.text.TextUtils; import android.view.LayoutInflater; import android.view.View; @@ -9,19 +8,17 @@ import android.widget.ImageView; import android.widget.TextView; import com.mogo.commons.AbsMogoApplication; -import com.mogo.commons.data.BaseData; import com.mogo.map.MogoLatLng; import com.mogo.map.marker.IMogoMarker; import com.mogo.map.marker.MogoMarkerOptions; import com.mogo.module.common.MogoApisHandler; import com.mogo.module.common.R; import com.mogo.module.common.constants.AdasRecognizedType; -import com.mogo.module.common.constants.CarModelType; import com.mogo.module.common.constants.DataTypes; import com.mogo.module.common.constants.SafeType; import com.mogo.module.common.constants.VisionMode; import com.mogo.module.common.drawer.marker.MarkerResourceManager; -import com.mogo.module.common.entity.CloudRoadData; +import com.mogo.module.common.utils.CoordinateUtils; import com.mogo.service.adas.entity.ADASRecognizedListResult; import java.util.ArrayList; @@ -108,7 +105,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer { if ( latLon == null ) { continue; } - points.add( endLatLon = new MogoLatLng( latLon.lat, latLon.lon ) ); + double targetPos[] = CoordinateUtils.transformFromWGSToGCJ( latLon.lat, latLon.lon ); + points.add( endLatLon = new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) ); } } else if ( recognizedListResult.latLonList != null @@ -176,24 +174,28 @@ class AdasRecognizedResultDrawer extends BaseDrawer { MogoMarkerOptions options = new MogoMarkerOptions() .owner( DataTypes.TYPE_MARKER_ADAS ) - .gps( true ) .icon( inflateView( recognizedListResult, machineVision, curSpeed ) ) + .gps( true ) + .anchor( 0.5f, 0.5f ) + .rotate( ( float ) recognizedListResult.heading ) .position( new MogoLatLng( recognizedListResult.latLonList.get( 0 ).lat, recognizedListResult.latLonList.get( 0 ).lon ) ); return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_ADAS, options ); } private View inflateView( ADASRecognizedListResult data, boolean machineVision, double curSpeed ) { View rootView = LayoutInflater.from( AbsMogoApplication.getApp() ).inflate( R.layout.module_commons_layout_car, null ); - SafeType safeType = getSafeType( data.distanceX, data.distanceY, data.speed, curSpeed ); - TextView tv = rootView.findViewById( R.id.module_commons_marker_car_speed ); - tv.setText( safeType.getMsg() ); +// SafeType safeType = getSafeType( data.distanceX, data.distanceY, data.speed, curSpeed ); +// TextView tv = rootView.findViewById( R.id.module_commons_marker_car_speed ); +// tv.setText( safeType.getMsg() ); ImageView iv = rootView.findViewById( R.id.module_commons_marker_car_model ); - iv.setImageResource( MarkerResourceManager.getMarkerDrawableResId( - machineVision ? VisionMode.Machine : VisionMode.User, - AdasRecognizedType.valueFrom( data.type ), - getCarModelType(), - safeType - ) ); +// iv.setImageResource( MarkerResourceManager.getMarkerDrawableResId( +// machineVision ? VisionMode.Machine : VisionMode.User, +// AdasRecognizedType.valueFrom( data.type ), +// getCarModelType(), +// safeType +// ) ); + + iv.setImageResource( R.drawable.icon_map_marker_car_gray ); return rootView; } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java index 2976345808..950134d646 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java @@ -12,6 +12,9 @@ public */ class BaseDrawer { + public static final int POS_LON = 1; + public static final int POS_LAT = 0; + public static final double BOUND_DISTANCE_DANGEROUS = 0.5; public static final double BOUND_SPEED_DANGEROUS = 1.5; diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java index 8a140eaf9e..bbbdf38fa6 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java @@ -24,6 +24,8 @@ import com.mogo.module.common.drawer.marker.MarkerResourceManager; import com.mogo.module.common.entity.CloudLocationInfo; import com.mogo.module.common.entity.CloudRoadData; import com.mogo.module.common.entity.MogoSnapshotSetData; +import com.mogo.module.common.utils.CoordinateUtils; +import com.mogo.utils.UiThreadHandler; import com.mogo.utils.logger.Logger; import java.util.ArrayList; @@ -74,6 +76,9 @@ class SnapshotSetDataDrawer extends BaseDrawer { // 云端 marker 缓存 private Map< String, IMogoMarker > mCloudSnapshotMarkersCaches = new ConcurrentHashMap<>(); + private int mPurseCounter = 0; + + private Map< String, MogoLatLng > mLastPositions = new ConcurrentHashMap<>(); /** * 其他车辆、rsu 车辆数据 @@ -82,16 +87,25 @@ class SnapshotSetDataDrawer extends BaseDrawer { */ public void renderSnapshotData( MogoSnapshotSetData data, boolean machineVision ) { - if ( data == null || data.getAllList() == null || data.getAllList().isEmpty() ) { + if ( data == null || ( + ( data.getAllList() == null || data.getAllList().isEmpty() ) && + ( data.getNearList() == null || data.getNearList().isEmpty() ) + ) ) { MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( AbsMogoApplication.getApp() ).removeMarkers( DataTypes.TYPE_MARKER_CLOUD_DATA ); return; } List< CloudRoadData > allDatumsList = new ArrayList<>(); - if ( machineVision ) { - allDatumsList.addAll( data.getAllList() ); - allDatumsList.addAll( data.getNearList() ); - } else { - allDatumsList.addAll( data.getAllList() ); + allDatumsList.addAll( data.getAllList() ); +// allDatumsList.addAll( data.getNearList() ); +// if ( machineVision ) { +// allDatumsList.addAll( data.getAllList() ); +// allDatumsList.addAll( data.getNearList() ); +// } else { +// allDatumsList.addAll( data.getAllList() ); +// } + mPurseCounter++; + if ( mPurseCounter >= 100 ) { + mPurseCounter = 0; } purgeCloudSnapshotData( allDatumsList ); for ( CloudRoadData cloudRoadData : allDatumsList ) { @@ -106,6 +120,7 @@ class SnapshotSetDataDrawer extends BaseDrawer { if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) { marker = mCloudSnapshotMarkersCaches.get( uniqueKey ); } + MogoLatLng target = new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ); if ( marker == null || marker.isDestroyed() ) { marker = drawSnapshotDataMarker( cloudRoadData, machineVision, data.curSpeed ); if ( marker == null ) { @@ -113,35 +128,26 @@ class SnapshotSetDataDrawer extends BaseDrawer { } mCloudSnapshotMarkersCaches.put( uniqueKey, marker ); } else { - marker.setIcon( fromView( inflateView( cloudRoadData, machineVision, data.curSpeed ) ) ); - } - if ( marker.getObject() instanceof MogoLatLng ) { - marker.setPosition( ( ( MogoLatLng ) marker.getObject() ).lat, ( ( MogoLatLng ) marker.getObject() ).lon ); - } - MogoLatLng endLatLon = null; - List< MogoLatLng > points = new ArrayList<>(); - if ( cloudRoadData.getCoordinates() != null - && cloudRoadData.getCoordinates().size() > 1 ) { - points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) ); - for ( int j = 0; j < cloudRoadData.getCoordinates().size(); j++ ) { - CloudLocationInfo poi = cloudRoadData.getCoordinates().get( j ); - if ( poi == null ) { - continue; + marker.setGps( false ); + MogoLatLng lastPosition = mLastPositions.get( uniqueKey ); + double targetPos[] = CoordinateUtils.transformFromWGSToGCJ( target.lat, target.lon ); + if ( lastPosition != null ) { + if ( lastPosition.equals( target ) ) { + marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() ); + marker.setPosition( targetPos[POS_LAT], targetPos[POS_LON] ); + } else { + List< MogoLatLng > points = new ArrayList<>(); + double lastPos[] = CoordinateUtils.transformFromWGSToGCJ( lastPosition.lat, lastPosition.lon ); + points.add( new MogoLatLng( lastPos[POS_LAT], lastPos[POS_LON] ) ); + points.add( new MogoLatLng( targetPos[POS_LAT], targetPos[POS_LON] ) ); + marker.startSmooth( points, 1 ); } - double lat = poi.getLat(); - double lng = poi.getLon(); - points.add( endLatLon = new MogoLatLng( lat, lng ) ); + } else { + marker.setRotateAngle( 360 - ( float ) cloudRoadData.getHeading() ); + marker.setPosition( targetPos[POS_LAT], targetPos[POS_LON] ); } - } else { - points.add( marker.getPosition() ); - points.add( endLatLon = new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) ); - } - if ( endLatLon != null ) { - marker.setObject( endLatLon ); - } - if ( points.size() >= 1 ) { - marker.startSmooth( points, 1 ); } + mLastPositions.put( uniqueKey, target ); } } @@ -174,6 +180,7 @@ class SnapshotSetDataDrawer extends BaseDrawer { if ( !existMarker.isEmpty() ) { for ( String key : mCloudSnapshotMarkersCaches.keySet() ) { if ( !existMarker.containsKey( key ) ) { + mLastPositions.remove( key ); try { IMogoMarker marker = mCloudSnapshotMarkersCaches.remove( key ); marker.destroy(); @@ -195,6 +202,8 @@ class SnapshotSetDataDrawer extends BaseDrawer { .owner( DataTypes.TYPE_MARKER_CLOUD_DATA ) .icon( inflateView( data, machineVision, curSpeed ) ) .gps( true ) + .anchor( 0.5f, 0.5f ) + .rotate( ( float ) data.getHeading() ) .position( new MogoLatLng( data.getLat(), data.getLon() ) ); return MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).addMarker( DataTypes.TYPE_MARKER_CLOUD_DATA, options ); } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java index 945bdda8e2..3968a35a51 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java +++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudRoadData.java @@ -21,6 +21,7 @@ public class CloudRoadData implements Parcelable { private String sn; private double speed; + private double heading; private long systemTime; @@ -124,6 +125,14 @@ public class CloudRoadData implements Parcelable { return sn; } + public double getHeading() { + return heading; + } + + public void setHeading( double heading ) { + this.heading = heading; + } + public String getUniqueKey(){ if (! TextUtils.isEmpty( uuid ) ) { return uuid; @@ -131,6 +140,9 @@ public class CloudRoadData implements Parcelable { return sn; } + public CloudRoadData() { + } + @Override public int describeContents() { return 0; @@ -144,6 +156,7 @@ public class CloudRoadData implements Parcelable { dest.writeString( this.uuid ); dest.writeString( this.sn ); dest.writeDouble( this.speed ); + dest.writeDouble( this.heading ); dest.writeLong( this.systemTime ); dest.writeInt( this.lightStatus ); dest.writeInt( this.lightLeftTime ); @@ -152,9 +165,6 @@ public class CloudRoadData implements Parcelable { dest.writeTypedList( this.coordinates ); } - public CloudRoadData() { - } - protected CloudRoadData( Parcel in ) { this.type = in.readInt(); this.lat = in.readDouble(); @@ -162,6 +172,7 @@ public class CloudRoadData implements Parcelable { this.uuid = in.readString(); this.sn = in.readString(); this.speed = in.readDouble(); + this.heading = in.readDouble(); this.systemTime = in.readLong(); this.lightStatus = in.readInt(); this.lightLeftTime = in.readInt(); diff --git a/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java b/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java index 32b651a8a5..d8139cb615 100644 --- a/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java +++ b/modules/mogo-module-map/src/main/java/com/mogo/module/map/MapFragment.java @@ -195,7 +195,7 @@ public class MapFragment extends MvpFragment< MapView, MapPresenter > implements //设置双指缩放手势是否可用。 uiSettings.setZoomGesturesEnabled( true ); if ( mMogoMap.getUIController() != null ) { - mMogoMap.getUIController().changeMapMode( EnumMapUI.NorthUP_2D ); + mMogoMap.getUIController().changeMapMode( EnumMapUI.CarUp_2D ); } } } diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java index ec35990aec..5f6b94aa91 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java @@ -29,6 +29,7 @@ import com.mogo.map.MogoLatLng; import com.mogo.map.listener.IMogoMapListener; import com.mogo.map.location.IMogoLocationListener; import com.mogo.map.location.MogoLocation; +import com.mogo.map.marker.IMogoMarker; import com.mogo.map.marker.MogoMarkerOptions; import com.mogo.map.navi.IMogoAimlessModeListener; import com.mogo.map.navi.IMogoCarLocationChangedListener2; @@ -44,6 +45,8 @@ import com.mogo.module.common.entity.CloudLocationInfo; import com.mogo.module.common.entity.MarkerResponse; import com.mogo.module.common.map.MapCenterPointStrategy; import com.mogo.module.common.map.Scene; +import com.mogo.module.common.utils.CoordinateSystemTransformationUtil; +import com.mogo.module.common.utils.CoordinateUtils; import com.mogo.module.service.autopilot.AutoPilotRemoteController; import com.mogo.module.service.intent.IntentHandlerFactory; import com.mogo.module.service.launchercard.LauncherCardRefresher; @@ -453,9 +456,9 @@ public class MogoServices implements IMogoMapListener, AutoPilotRemoteController.getInstance().start(); MogoRTKLocation.getInstance().registerRTKLocationListener( cloudLocationInfos -> { - Logger.i(TAG,"cloudLocationInfos size : " + cloudLocationInfos.size()); - startSendCarLocationAndAdasRecognizedResult2Server(cloudLocationInfos); - }); + Logger.i( TAG, "cloudLocationInfos size : " + cloudLocationInfos.size() ); + startSendCarLocationAndAdasRecognizedResult2Server( cloudLocationInfos ); + } ); // SimpleLocationCorrectStrategy.getInstance().setRecordLocationListener((history, correct,valid,err) -> { // // todo 打点 @@ -510,31 +513,45 @@ public class MogoServices implements IMogoMapListener, } } - private void startSendCarLocationAndAdasRecognizedResult2Server(List cloudLocationInfo) { + + private List< List< Double > > coors = new ArrayList<>(); + private CloudLocationInfo mLastInfo; + private void startSendCarLocationAndAdasRecognizedResult2Server( List< CloudLocationInfo > cloudLocationInfo ) { // Location lastCarLocation = mLastCarLocation; CloudLocationInfo lastInfo = null; // 如果数组内容不为空，就用数组最后一个值 - if (cloudLocationInfo != null && !cloudLocationInfo.isEmpty()) { - lastInfo = cloudLocationInfo.get(cloudLocationInfo.size() - 1); + if ( cloudLocationInfo != null && !cloudLocationInfo.isEmpty() ) { + lastInfo = cloudLocationInfo.get( cloudLocationInfo.size() - 1 ); + mLastInfo = lastInfo; } if ( lastInfo == null ) { - lastInfo = LocationParseUtil.locationToCloudLocation(mLastCarLocation); + lastInfo = mLastInfo; } LocationResult locationResult = null; if ( lastInfo != null ) { // 定位点预测纠偏 - lastInfo = SimpleLocationCorrectStrategy.getInstance().correct(lastInfo); + lastInfo = SimpleLocationCorrectStrategy.getInstance().correct( lastInfo ); locationResult = new LocationResult(); - if (lastInfo != null) { + if ( lastInfo != null ) { +// List coor = new ArrayList<>( ); +// double pos[] = CoordinateUtils.transformFromWGSToGCJ( lastInfo.getLat(), lastInfo.getLon() ); +// coor.add( pos[1]); +// coor.add(pos[0] ); +// coors.add( coor ); +// if ( coors.size()>50 ) { +// Logger.d( "Print-coor", GsonUtil.jsonFromObject( coors ) ); +// coors.clear(); +// } +// moveMarker( lastInfo.getLat(), lastInfo.getLon() ); locationResult.lastCoordinate = lastInfo; locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() ); } locationResult.coordinates = new ArrayList<>(); locationResult.sn = com.mogo.commons.network.Utils.getSn(); - if(cloudLocationInfo == null){ - locationResult.coordinates.addAll(new ArrayList<>()); - }else { - locationResult.coordinates.addAll(cloudLocationInfo); + if ( cloudLocationInfo == null ) { + locationResult.coordinates.addAll( new ArrayList<>() ); + } else { + locationResult.coordinates.addAll( cloudLocationInfo ); } } List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult(); @@ -556,6 +573,33 @@ public class MogoServices implements IMogoMapListener, } ); } + private IMogoMarker marker = null; + + private void moveMarker( double lat, double lon ) { + List< Double > coor = new ArrayList<>(); + double pos[] = CoordinateSystemTransformationUtil.transformWgsToGcj( lat, lon ); + coor.add( pos[1] ); + coor.add( pos[0] ); + coors.add( coor ); + if ( coors.size() > 50 ) { + Logger.d( "Print-coor", GsonUtil.jsonFromObject( coors ) ); + coors.clear(); + } + if ( marker == null ) { + marker = MogoApisHandler.getInstance().getApis() + .getMapServiceApi().getMarkerManager( mContext ) + .addMarker( TAG, new MogoMarkerOptions() + .latitude( lat ) + .longitude( lon ) + .gps( true ) + .icon( BitmapFactory.decodeResource( mContext.getResources(), R.drawable.bg_map_marker_blue ) ) ) + ; + } + if ( marker != null ) { + marker.setPosition( lat, lon ); + } + } + private void initWorkThread() { mThreadHandler = new Handler( WorkThreadHandler.getInstance().getLooper() ) { @Override @@ -898,7 +942,9 @@ public class MogoServices implements IMogoMapListener, Message msg = Message.obtain(); msg.what = ServiceConst.MSG_REQUEST_DATA; msg.obj = new RefreshObject( callback, radius, latLng, amount ); - mThreadHandler.sendMessage( msg ); + if ( mThreadHandler != null ) { + mThreadHandler.sendMessage( msg ); + } } private void notifySeekHelpingStatusChanged( boolean seekHelpingStatus ) { diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java index 5b2d5f0f76..7b06835deb 100644 --- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java @@ -40,7 +40,7 @@ public class MogoRTKLocation { } private MogoRTKLocation() { - mHandler = new Handler(WorkThreadHandler.getInstance().getLooper()) { + mHandler = new Handler(WorkThreadHandler.newInstance( TAG ).getLooper() ) { @Override public void handleMessage(Message msg) { super.handleMessage(msg); @@ -63,8 +63,7 @@ public class MogoRTKLocation { rtkLocationListener.onLocationChanged(list); } if (cacheList != null && cacheList.size() > 0) { - cacheList = null; - cacheList = new ArrayList<>(); + cacheList.clear(); } } @@ -90,7 +89,7 @@ public class MogoRTKLocation { } else { Logger.d(TAG, "RTK LocationManager Provider GPS_PROVIDER unable"); } - + // 注册修改上报间隔的广播, 临时使用，后面可直接干掉，发送广播的地方在EntranceFragment IntentFilter filter = new IntentFilter("com.mogo.launcher.action.FIX_UPLOAT_DELAY"); AbsMogoApplication.getApp().registerReceiver(fixUploadDelayReceiver, filter); diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java index 8ea296d4a5..97a33a325c 100644 --- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java +++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java @@ -1,5 +1,7 @@ package com.mogo.service.impl.adas; +import android.text.TextUtils; + import com.mogo.commons.utils.MortonCode; import com.mogo.service.adas.entity.ADASRecognizedListResult; import com.mogo.service.adas.entity.ADASRecognizedResult; @@ -89,6 +91,9 @@ class AdasObjectUtils { } List< RectInfo.RectBean > models = rectInfo.getModels(); for ( RectInfo.RectBean model : models ) { + if ( model == null || TextUtils.isEmpty( model.getUuid() ) ) { + continue; + } ADASRecognizedListResult recognizedListResult = null; if ( !result.containsKey( model.getUuid() ) ) { recognizedListResult = new ADASRecognizedListResult();