diff --git a/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt b/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt index 679ebda8ab..192fb9905d 100644 --- a/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt +++ b/app/src/androidTest/java/com/mogo/functions/test/RxJavaBackPressureTest.kt @@ -37,7 +37,6 @@ class RxJavaBackPressureTest { @Test fun testIntervalBackPressure() = runBlocking(Dispatchers.Default) { val subscription = Flowable.interval(50, MILLISECONDS).doOnNext { - Log.d("RxJava2", "-- do action --") }.subscribeOn(Schedulers.computation()).observeOn(Schedulers.io()).subscribe { Thread.sleep(2000) } diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java index 90f6c23382..0034044367 100644 --- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java +++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java @@ -106,7 +106,6 @@ public class MoGoHandAdasMsgManager implements @Override public void onAutopilotCarConfig(@NotNull MessagePad.CarConfigResp carConfigResp) { if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.getMacAddress())) { - Log.d("liyz", "司机端 onAutopilotCarConfig ---" + carConfigResp.getMacAddress()); CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.getMacAddress(), MoGoAiCloudClientConfig.getInstance().getSn()); } } diff --git a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java index 24e48c10f7..f47c784a14 100644 --- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java +++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java @@ -96,7 +96,6 @@ public class BindingcarProvider implements IMoGoBindingcarProvider { long oldHour = SharedPrefsMgr.getInstance(mContext).getLong("typeDriver", 0); //如果2分钟内频繁调，需要拦截，业务导致的会多次请求工控机信息 if (HmiBuildConfig.isShowSnBindingView) { - Log.d("liyz", "driverScreen -----间隔时间 = " + (currentHour - oldHour) + "-- macAddress = " + macAddress + "--widevineIDWithMd5 = " + widevineIDWithMd5 + "--getScreenType() = " + getScreenType()); if (currentHour - oldHour > 1) { SharedPrefsMgr.getInstance(mContext).putLong("typeDriver", System.currentTimeMillis() / (1000 * 60)); BindingcarNetWorkManager.getInstance().getBindingcarInfo(mContext, macAddress, widevineIDWithMd5, getScreenType()); @@ -109,7 +108,6 @@ public class BindingcarProvider implements IMoGoBindingcarProvider { long oldHour = SharedPrefsMgr.getInstance(mContext).getLong("typePassenger", 0); //如果2分钟内频繁调，需要拦截，业务导致的会多次请求工控机信息 if (HmiBuildConfig.isShowSnBindingView) { - Log.d("liyz", "passengerScreen --间隔时间 = " + (currentHour - oldHour) + "-- mAddress = " + macAddress + "--mWidevineIDWithMd5 = " + widevineIDWithMd5 + "--getScreenType() = " + getScreenType()); if (currentHour - oldHour > 1) { SharedPrefsMgr.getInstance(mContext).putLong("typePassenger", System.currentTimeMillis() / (1000 * 60)); BindingcarNetWorkManager.getInstance().getBindingcarInfo(mContext, macAddress, widevineIDWithMd5, getScreenType()); diff --git a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java index 0b4a6d9db9..66ffca9caf 100644 --- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java +++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java @@ -61,7 +61,6 @@ public class BindingcarNetWorkManager { // String macAddress = "48:b0:2d:3a:bc:78"; // String sn = "X20202203105S688HZ"; - Log.d("liyz", "getBindingcarInfo -- widevineIDWithMd5 = " + widevineIDWithMd5 + "--macAddress = " + macAddress + "--screenType = " + screenType); BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType); RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request)); mBindingcarApiService.getBindingcarInfo(token, requestBody) @@ -76,7 +75,6 @@ public class BindingcarNetWorkManager { public void onNext(@NonNull BindingcarInfo info) { if (info != null && info.getData() != null) { CallerLogger.INSTANCE.d(TAG, "getBindingcarInfo onNext info.getData() =" + info.getData().toString()); - Log.d("liyz", "getBindingcarInfo onNext info.getData() =" + info.getData().toString() + "--compare = " + info.getData().getCompare()); if (info.getData().getCompare().equals("0")) { CallerHmiManager.INSTANCE.showBindingcarDialog(); } else if (info.getData().getCompare().equals("3")) { @@ -107,7 +105,6 @@ public class BindingcarNetWorkManager { * mac: 48:b0:2d:3a:9c:19 */ public void modifyBindingcar(String macAddress, String widevineIDWithMd5, BindingcarCallBack callBack, int screenType) { - Log.d("liyz", "modifyBindingcar --- widevineIDWithMd5 = " + widevineIDWithMd5 + "---macAddress = " + macAddress + "--screenType = " + screenType); BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType); RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request)); mBindingcarApiService.modifyBindingcarInfo(token, requestBody) @@ -123,13 +120,11 @@ public class BindingcarNetWorkManager { if (info != null) { callBack.callBackResult(info); CallerLogger.INSTANCE.d(TAG, "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString()); - Log.d("liyz", "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString()); } } @Override public void onError(@NonNull Throwable e) { - Log.e("liyz", "modifyBindingcar onError e = " + e.toString() + "---e.getMessage = " + e.getMessage()); CallerLogger.INSTANCE.e(TAG, "modifyBindingcar onError e = " + e.toString() + "---e.getMessage = " + e.getMessage()); } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt index 67a6be07fb..1f57974ce5 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt @@ -23,7 +23,6 @@ internal class CanImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotVehi private var job: Job? = null override fun onCreate() { - Log.d(TAG, "-- onCreate --") send(CanStatus(CallerAutoPilotManager.isConnected())) CallerAutopilotVehicleStateListenerManager.addListener(TAG, this) CallerAutoPilotStatusListenerManager.addListener(TAG, this) @@ -86,7 +85,6 @@ internal class CanImpl(ctx: Context) : IFlow(ctx), IMoGoAutopilotVehi override fun onDestroy() { super.onDestroy() job?.safeCancel() - Log.d(TAG, "-- onDestroy --") CallerAutopilotVehicleStateListenerManager.removeListener(TAG) CallerAutoPilotStatusListenerManager.removeListener(TAG) } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt index 77dc750d09..439294dcab 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt @@ -1,8 +1,6 @@ package com.zhjt.mogo_core_function_devatools.status.flow.ipc import android.content.* -import android.util.* -import com.mogo.eagle.core.data.autopilot.* import com.mogo.eagle.core.function.api.autopilot.* import com.mogo.eagle.core.function.call.autopilot.* import com.zhjt.mogo_core_function_devatools.status.flow.IFlow @@ -17,7 +15,6 @@ internal class IpcImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotStatu private var state: Int = -1 override fun onCreate() { - Log.d(TAG, "-- onCreate --") checkAndSend() CallerAutoPilotStatusListenerManager.addListener(TAG, this) } @@ -36,7 +33,6 @@ internal class IpcImpl(ctx: Context): IFlow(ctx), IMoGoAutopilotStatu override fun onDestroy() { super.onDestroy() - Log.d(TAG, "-- onDestroy --") CallerAutoPilotStatusListenerManager.removeListener(TAG) } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt index 4ea16362fb..a4e67dcff1 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/nets/NetsImpl.kt @@ -37,47 +37,39 @@ internal class NetsImpl(ctx: Context): IFlow(ctx) { override fun onAvailable(network: Network) { super.onAvailable(network) - Log.d(TAG, "-- onAvailable --:: $network") checkAndSend() } override fun onLosing(network: Network, maxMsToLive: Int) { super.onLosing(network, maxMsToLive) - Log.d(TAG, "-- onLosing --:: $network::$maxMsToLive") } override fun onLost(network: Network) { super.onLost(network) - Log.d(TAG, "-- onLost --:: $network") checkAndSend() } override fun onUnavailable() { super.onUnavailable() - Log.d(TAG, "-- onUnavailable --") checkAndSend() } override fun onCapabilitiesChanged(network: Network, networkCapabilities: NetworkCapabilities) { super.onCapabilitiesChanged(network, networkCapabilities) - Log.d(TAG, "-- onCapabilitiesChanged --:$network::$networkCapabilities") checkAndSend() } override fun onLinkPropertiesChanged(network: Network, linkProperties: LinkProperties) { super.onLinkPropertiesChanged(network, linkProperties) - Log.d(TAG, "-- onLinkPropertiesChanged --:$network::$linkProperties") } override fun onBlockedStatusChanged(network: Network, blocked: Boolean) { super.onBlockedStatusChanged(network, blocked) - Log.d(TAG, "-- onBlockedStatusChanged --:$network::$blocked") } } override fun onCreate() { - Log.d(TAG, "-- onCreate --") checkAndSend() val builder = NetworkRequest.Builder() .addTransportType(NetworkCapabilities.TRANSPORT_WIFI) @@ -106,7 +98,6 @@ internal class NetsImpl(ctx: Context): IFlow(ctx) { sr = connectionInfo.rxLinkSpeedMbps } val speed = Speed(tr, sr) - Log.d(TAG, "checkAndSend----:enable: $enabled :: name: $name") send(enabled, name, speed) } @@ -129,7 +120,6 @@ internal class NetsImpl(ctx: Context): IFlow(ctx) { override fun onDestroy() { super.onDestroy() - Log.d(TAG, "-- onDestroy --") if (registered.compareAndSet(true, false)) { connectMgr.unregisterNetworkCallback(cb) } diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt index 8a0e6ad879..b328d286c6 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt @@ -19,7 +19,6 @@ internal class TracingImpl(ctx: Context): IFlow(ctx), IMoGoAutopi private var old: TracingStatus.Tracing = UNKNOWN override fun onCreate() { - Log.d(TAG, "-- onCreate --") val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() val state = code.toState() ?: UNKNOWN old = state @@ -31,7 +30,6 @@ internal class TracingImpl(ctx: Context): IFlow(ctx), IMoGoAutopi override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) { super.onAutopilotGuardian(guardianInfo) val current = guardianInfo?.code - Log.d(TAG, "-- onAutopilotGuardian --: $current") val newState = current?.toState() if (newState != null && newState != old) { send(TracingStatus(newState)) @@ -42,7 +40,6 @@ internal class TracingImpl(ctx: Context): IFlow(ctx), IMoGoAutopi override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) { super.onAutopilotStatusResponse(autoPilotStatusInfo) - //Log.d(TAG, "-- onAutopilotStatusResponse -- autopilotMode: ${autoPilotStatusInfo.pilotmode} :: state: ${autoPilotStatusInfo.state}") if (autoPilotStatusInfo.state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) { send(TracingStatus(UNKNOWN)) } @@ -53,7 +50,6 @@ internal class TracingImpl(ctx: Context): IFlow(ctx), IMoGoAutopi override fun onDestroy() { super.onDestroy() - Log.d(TAG, "-- onDestroy --") CallerAutoPilotStatusListenerManager.removeListener(TAG) } } \ No newline at end of file diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt index b9d001c663..3052cc89cb 100644 --- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt +++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt @@ -45,8 +45,6 @@ internal class StatusModel : ViewModel() { val nv = ArrayList(v).also { it.updateOrInsert(s) } val data = Pair(getExceptionStatus(nv), nv) old.set(data) - Log.d(TAG, "status: $s") - Log.d(TAG, "data: ${data.second}") status.postValue(data) } } @@ -86,7 +84,6 @@ internal class StatusModel : ViewModel() { is TracingStatus -> { val c1 = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE val c2 = s.state.isException() - Log.d(TAG, "getExceptionStatus-::c1: $c1 -> c2: $c2") if (c1 && c2) { s } else { diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/anim/DefaultAnimator.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/anim/DefaultAnimator.kt index 873fc64a48..fabe426819 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/anim/DefaultAnimator.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/anim/DefaultAnimator.kt @@ -50,9 +50,7 @@ open class DefaultAnimator : OnFloatAnimator { if (triple.third) params.x = value else params.y = value // 动画执行过程中页面关闭，出现异常 windowManager.updateViewLayout(view, params) - Log.d("XXX", "update ---> ${it.animatedValue}, ${it.animatedFraction}, $value") } catch (e: Exception) { - Log.d("XXX", "exception ---> $e") cancel() } } diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XWarningView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XWarningView.kt index 2b29e5ceba..80c0da6125 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XWarningView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XWarningView.kt @@ -53,7 +53,6 @@ class V2XWarningView @JvmOverloads constructor( * @param closeTime 倒计时 */ fun showWarning(direction: WarningDirectionEnum, closeTime: Long) { -// CallerLogger.d("$M_HMI$TAG", "预警红边：预警方向->$direction 预警倒计时->$closeTime") Log.d(TAG, "预警红边：预警方向->$direction 预警倒计时->$closeTime") UiThreadHandler.post { // 如果传入的不是关闭显示，则设置倒计时，定时关闭红框警示 diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/CircleQueue.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/CircleQueue.java index 2494ef19f3..921a8d829e 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/CircleQueue.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/CircleQueue.java @@ -1,7 +1,6 @@ package com.mogo.eagle.core.function.map; -import android.util.Log; - +import java.util.List; import java.util.Vector; public class CircleQueue { @@ -14,8 +13,12 @@ public class CircleQueue { objQueue = new Vector<>(maxSize); } + public int size() { + return objQueue.size(); + } + public void addQueue(ObjQueue obj) { - if(objQueue.size() == maxSize){ + if (objQueue.size() == maxSize) { objQueue.remove(0); } objQueue.add(obj); @@ -25,9 +28,19 @@ public class CircleQueue { objQueue.remove(obj); } - public void show() { - for (ObjQueue queue : objQueue) { - Log.i("CircleQueue","show : " + queue.getType()); - } + public List getLastThreeFrame() { + return objQueue.subList(objQueue.size() - 3, objQueue.size()); + } + + public ObjQueue getLastFrame() { + return objQueue.lastElement(); + } + + @Override + public String toString() { + return "CircleQueue{" + + "objQueue=" + objQueue + + "size=" + objQueue.size() + + '}'; } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java index 3e123fac29..aa6ed80d63 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java @@ -35,15 +35,6 @@ public class IdentifyDataDrawer { */ private static final ConcurrentHashMap mMarkersCaches = new ConcurrentHashMap<>(); - /** - * kalman缓存数据 - */ - private static final ConcurrentHashMap algoCache = new ConcurrentHashMap<>(); - - /** - * 记录每次实际绘制的交通元素UUID - */ - private final ArrayList trafficDataUuidList = new ArrayList<>(); /** * 过滤后的数据集合 */ @@ -75,31 +66,34 @@ public class IdentifyDataDrawer { */ @SuppressLint("NewApi") public void renderAdasRecognizedResult(List resultList) { - if (resultList == null || resultList.isEmpty()) { - clearOldMarker(); - CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……"); - return; - } +// if (resultList == null || resultList.isEmpty()) { +// TrackManager.getInstance().clearAll(mContext); +// CallerLogger.INSTANCE.w(TAG, "感知数据为空无需渲染……"); +// return; +// } +// +// if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { +// TrackManager.getInstance().clearAll(mContext); +// CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式"); +// return; +// } - if (!MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) { - clearOldMarker(); - CallerLogger.INSTANCE.w(TAG, "渲染 adas 识别的数据 当前不是VR模式"); - return; - } +// //清除缓存 +// for (MessagePad.TrackedObject data : resultList) { +// if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) { +// trafficDataUuidList.remove("" + data.getUuid()); +// } +// } +// trafficDataUuidList.forEach(uuid -> { +// mMarkersCaches.remove(uuid); +// algoCache.remove(uuid); +// }); - //清除缓存 - for (MessagePad.TrackedObject data : resultList) { - if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) { - trafficDataUuidList.remove("" + data.getUuid()); - } - } - trafficDataUuidList.forEach(uuid -> { - mMarkersCaches.remove(uuid); - algoCache.remove(uuid); - }); - - ArrayList filterList = filterTrafficData(resultList); + TrackManager.getInstance().clearCache(mContext); +// ArrayList filterList = filterTrafficData(resultList); + ArrayList filterList = TrackManager.getInstance().filterTrafficData(resultList); + Log.i("0608arrow","size : " + filterList.size() + " , filterList : " + filterList.toString()); if (filterList.size() > 0) { // 绘制新数据 MogoMarkerManager.getInstance(mContext) @@ -114,7 +108,6 @@ public class IdentifyDataDrawer { */ private ArrayList filterTrafficData(List trafficData) { mFilterTrafficData.clear(); - trafficDataUuidList.clear(); for (MessagePad.TrackedObject data : trafficData) { // 过滤掉未知感知数据 if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) { @@ -133,45 +126,15 @@ public class IdentifyDataDrawer { //更新已存在的感知物体数据 } mMarkersCaches.put(uuid, data); - trafficDataUuidList.add(uuid); } return mFilterTrafficData; } - //todo 相信滤波的定位点做验证，将原始data修改经纬度和航向角返回 - private MessagePad.TrackedObject kalmanCorrectData(MessagePad.TrackedObject data) { - String uuid = "" + data.getUuid(); - if (algoCache.containsKey(uuid)) { - Object o = algoCache.get(uuid); - KalmanFilter kf = (KalmanFilter) o; - assert kf != null; - algoCache.put(uuid, kf); - MessagePad.TrackedObject cacheTrackObj = mMarkersCaches.get(uuid); - assert cacheTrackObj != null; - if (data.getSpeed() < 0.5) { - return data.toBuilder().setHeading(cacheTrackObj.getHeading()).setLongitude(cacheTrackObj.getLongitude()).setLatitude(cacheTrackObj.getLatitude()).build(); - } else { - return data; - } - } else { - double r = 0.000005; - if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) { - r = 0.00001; - } - algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r)); - return data; - } - } - /** * 清除旧的 marker 数据 */ public void clearOldMarker() { - for (String uuid : trafficDataUuidList) { - MogoMarkerManager.getInstance(mContext) - .removeMarker(uuid); - } - trafficDataUuidList.clear(); + TrackManager.getInstance().clearAll(mContext); } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackManager.java index 9eaffe8c0c..ec6337e1c7 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackManager.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackManager.java @@ -1,11 +1,17 @@ package com.mogo.eagle.core.function.map; +import android.content.Context; import android.util.ArrayMap; +import android.util.Log; import com.mogo.eagle.core.data.config.FunctionBuildConfig; import com.mogo.eagle.core.data.enums.TrafficTypeEnum; +import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager; +import com.mogo.map.MogoMarkerManager; +import java.text.DecimalFormat; import java.util.ArrayList; +import java.util.Iterator; import java.util.List; import mogo.telematics.pad.MessagePad; @@ -20,6 +26,9 @@ public class TrackManager { return TrackOwner.trackManager; } + public static final DecimalFormat DF = new DecimalFormat("0.000000"); + public static final int DISTANCE = 6371000; + /** * marker缓存队列 */ @@ -30,17 +39,18 @@ public class TrackManager { */ private final ArrayList mFilterTrafficData = new ArrayList<>(); - public ArrayList filterTrafficData(List trafficData) { //清空上次返回数据，做到缓存复用 mFilterTrafficData.clear(); //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid for (MessagePad.TrackedObject data : trafficData) { + // todo 过滤掉未知感知数据，后面会依据危险等级显示 if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) { //CallerLogger.INSTANCE.w(TAG, "未知感知类型数据，丢弃，不渲染"); continue; } + String uuid = "" + data.getUuid(); TrackObj trackObj = mMarkersCaches.get(uuid); if (trackObj != null) { @@ -49,11 +59,33 @@ public class TrackManager { } else { trackObj = new TrackObj(data); //todo 判断是否有重合元素 google s2 - } mMarkersCaches.put(uuid, trackObj); } return mFilterTrafficData; } + public void clearCache(Context mContext) { + Iterator it = mMarkersCaches.keySet().iterator(); + while (it.hasNext()) { + String key = (String) it.next(); + TrackObj trackObj = mMarkersCaches.get(key); + if (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() - trackObj.getRecentlyTime() > 1000) { + Log.d("track","clearCache uuid : " + key); + mMarkersCaches.remove(key); + MogoMarkerManager.getInstance(mContext) + .removeMarker(key); + } + } + } + + public void clearAll(Context mContext) { + Iterator it = mMarkersCaches.keySet().iterator(); + while (it.hasNext()) { + String key = (String) it.next(); + mMarkersCaches.remove(key); + MogoMarkerManager.getInstance(mContext) + .removeMarker(key); + } + } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackObj.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackObj.java index 87007575b7..c172895484 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackObj.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/TrackObj.java @@ -1,8 +1,15 @@ package com.mogo.eagle.core.function.map; +import static com.mogo.eagle.core.function.map.TrackManager.DISTANCE; + +import android.util.Log; + import com.mogo.eagle.core.utilcode.geometry.S2CellId; import com.mogo.eagle.core.utilcode.geometry.S2LatLng; +import java.math.BigDecimal; +import java.util.List; + import mogo.telematics.pad.MessagePad; public class TrackObj { @@ -10,56 +17,119 @@ public class TrackObj { private final CircleQueue circleQueue = new CircleQueue(10); private final KalmanFilter kalmanFilter; //卡尔曼结果 private S2CellId s2CellId; //s2 id权重 - private long recentlyTime; + private S2LatLng s2LatLng; //s2 经纬度 + private long recentlyTime; //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除 private double headingDelta; //航向角德尔塔 - private double speedDelta; //速度德尔塔 private double typeWeight; //类型权重 - private final int[] observationType = new int[3]; //类型变化的观测数组 + private String uuid; public TrackObj(MessagePad.TrackedObject data) { + uuid = "" + data.getUuid(); kalmanFilter = new KalmanFilter(data.getLongitude(), data.getLatitude(), 0.0000005); circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getType())); - recentlyTime = Double.valueOf(data.getSatelliteTime()).longValue(); + recentlyTime = BigDecimal.valueOf(data.getSatelliteTime()).longValue(); S2LatLng s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude()); - s2CellId = S2CellId.fromLatLng(s2LatLng).parent(21); //需要验证21前后 + s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); //需要验证22前后 + } + + private MessagePad.TrackedObject cacheData; + + //先处理kalman数据，将经纬度校准后，放入缓存队列，然后基于后序策略将各个项进行校准 + public MessagePad.TrackedObject updateObj(MessagePad.TrackedObject data) { + cacheData = data.toBuilder().build(); + recentlyTime = BigDecimal.valueOf(data.getSatelliteTime()).longValue();//todo 毫秒没有了 + + correct(); + + circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), cacheData.getType())); + return cacheData.toBuilder().build(); + } + + private void correct() { + calLoc(); + calHeading(); + calType(); + } + + private void calLoc() { + //距离计算,位置修正 + double[] lonLat = kalmanFilter.filter(cacheData.getLongitude(), cacheData.getLatitude()); + if (s2LatLng != null) { + double distance = s2LatLng.getDistance(S2LatLng.fromDegrees(lonLat[0], lonLat[1])).distance(DISTANCE); +// DF.format(distance) + //速度小于0.5m/s,并且距离在15米范围内，则认为是相对静止状态(注意调整阈值)，不更新缓存点信息 + if (cacheData.getSpeed() < 0.5 && distance < 15) { + Log.i("track", "uuid : " + uuid + " , 静止物体相对上一帧 distance : " + distance + " lon : " + s2LatLng.latDegrees() + " lat : " + s2LatLng.lngDegrees()); + cacheData = cacheData.toBuilder().setLongitude(s2LatLng.latDegrees()).setLatitude(s2LatLng.lngDegrees()).build(); + } else { + //不在阈值内则更新，代表物体移动，使用卡尔曼滤波经纬度数据 + s2LatLng = S2LatLng.fromDegrees(lonLat[0], lonLat[1]); + s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); + cacheData = cacheData.toBuilder().setLongitude(lonLat[0]).setLatitude(lonLat[1]).build(); + } + } else { + //首次更新 + s2LatLng = S2LatLng.fromDegrees(lonLat[0], lonLat[1]); + s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); + } + } + + private void calHeading() { + double speedAverage; + double newDelta; + ObjQueue lastObj; + if (circleQueue.size() >= 3) { + //计算差量 + List objQueueList = circleQueue.getLastThreeFrame(); + lastObj = objQueueList.get(2); + //计算平均速度 + speedAverage = (objQueueList.get(0).getSpeed() + objQueueList.get(1).getSpeed() + objQueueList.get(2).getSpeed()) / 3; + + double firstDelta = objQueueList.get(1).getHeading() - objQueueList.get(0).getHeading(); + double secondDelta = objQueueList.get(2).getHeading() - objQueueList.get(1).getHeading(); + newDelta = Math.abs(cacheData.getHeading() - lastObj.getHeading()); + //按帧与帧之间的顺序变化 + double abs = Math.abs(firstDelta - secondDelta); + //存在180度转向(有一帧出现错误) + if (Math.abs(abs - 180) < 5) { + headingDelta = firstDelta - secondDelta; + } else if (abs < 5) { //两帧之间差量比较均匀 + headingDelta = firstDelta - secondDelta; + } else if (Math.abs(abs - 180) > 5 && newDelta < 5) { //前两帧数据中出现异常值，相信后序帧 + headingDelta = newDelta; + } + } else { + lastObj = circleQueue.getLastFrame(); + speedAverage = lastObj.getSpeed(); + newDelta = Math.abs(cacheData.getHeading() - lastObj.getHeading()); + headingDelta = newDelta; + } + //更正数据,速度小于0.5使用上一帧数据 + if (speedAverage < 0.5) { + cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build(); + } + //速度大于1.5并出现大幅度转向使用缓存帧和delta数据 + if (cacheData.getSpeed() > 1.5 && newDelta > 10 && headingDelta != 0.0) { + cacheData = cacheData.toBuilder().setHeading(lastObj.getHeading() + headingDelta).build(); + } + + } + + private void calType() { + } public long getRecentlyTime() { return recentlyTime; } - public void setRecentlyTime(long recentlyTime) { - this.recentlyTime = recentlyTime; - } - - public double getHeadingDelta() { - return headingDelta; - } - - public void setHeadingDelta(double headingDelta) { - this.headingDelta = headingDelta; - } - - public double getSpeedDelta() { - return speedDelta; - } - - public void setSpeedDelta(double speedDelta) { - this.speedDelta = speedDelta; - } - - public double getTypeWeight() { - return typeWeight; - } - - public void setTypeWeight(double typeWeight) { - this.typeWeight = typeWeight; - } - - //先处理kalman数据，将经纬度校准后，放入缓存队列，然后基于后序策略将各个项进行校准 - public MessagePad.TrackedObject updateObj(MessagePad.TrackedObject data) { -// assert kf != null; -// double[] lonLat = kf.filter(data.getLongitude(), data.getLatitude()); - return data; + @Override + public String toString() { + return "TrackObj{" + + "circleQueue=" + circleQueue + + ", s2CellId=" + s2CellId + + ", recentlyTime=" + recentlyTime + + ", cacheData=" + cacheData + + '}'; } } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/log b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/log new file mode 100644 index 0000000000..e69de29bb2 diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/track b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/track new file mode 100644 index 0000000000..e69de29bb2