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tongchenfei
2021-03-10 15:44:36 +08:00
parent 5dea7b6b13 f6d759cb88
commit f85a5b9e6a
23 changed files with 4527 additions and 97 deletions
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51
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -1,10 +1,12 @@
package com.mogo.module.common.drawer;
import android.content.Context;
import android.graphics.BitmapFactory;
import android.os.Handler;
import android.os.Message;
import android.text.TextUtils;
import android.util.ArrayMap;
import android.util.Log;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
@@ -17,6 +19,7 @@ import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.utils.WorkThreadHandler;
import com.mogo.utils.logger.Logger;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -58,11 +61,11 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
} else if ( msg.what == MSG_SET_POINT ) {
if ( msg.obj instanceof MovingPoint ) {
moveMarker( ( ( MovingPoint ) msg.obj ) );
moveMarker( ( ( MovingPoint ) msg.obj ), msg.arg1 );
}
} else if( msg.what == MSG_SET_SPEED ){
} else if ( msg.what == MSG_SET_SPEED ) {
if ( msg.obj instanceof SpeedData ) {
showSpeed( ( SpeedData ) msg.obj );
showSpeed( ( SpeedData ) msg.obj );
}
}
}
@@ -80,7 +83,12 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
Message msg = Message.obtain();
msg.what = MSG_SET_POINT;
msg.obj = points.get( i );
mPointSettingHandler.sendMessageDelayed( msg, ( i + 1 ) * 10 );
if ( i == 0 || i == points.size() - 1 ) {
msg.arg1 = R.drawable.sr;
} else {
msg.arg1 = R.drawable.sy;
}
mPointSettingHandler.sendMessageDelayed( msg, points.get( i ).delay );
}
}
@@ -89,14 +97,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
*
* @param pointData
*/
private void moveMarker( MovingPoint pointData ) {
private void moveMarker( MovingPoint pointData, int drId ) {
if ( pointData == null ) {
return;
}
pointData.move();
}
private void showSpeed(SpeedData data){
private void showSpeed( SpeedData data ) {
if ( data == null ) {
return;
}
@@ -126,7 +134,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
// adas marker 缓存
private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new HashMap<>();
public boolean hasCached( String uniqueKey ) {
return mAdasRecognizedMarkersCaches.containsKey( uniqueKey );
@@ -143,7 +151,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
return;
}
Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
Map< String, IMogoMarker > newAdasRecognizedMarkersCaches = new HashMap<>();
for ( ADASRecognizedResult recognizedListResult : resultList ) {
if ( recognizedListResult == null ) {
continue;
@@ -158,6 +166,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
/**
* 绘制某个物体的一个数据
*
* @param recognizedListResult
* @param newAdasRecognizedMarkersCaches
*/
@@ -171,7 +180,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
if ( TextUtils.isEmpty( uniqueKey ) ) {
return;
}
final long start = System.currentTimeMillis();
double[] matchedPoint = SnapshotSetDataDrawer.getInstance().matchRoad( recognizedListResult.uuid, recognizedListResult.lon,
recognizedListResult.lat,
recognizedListResult.heading,
@@ -210,29 +219,29 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
newAdasRecognizedMarkersCaches.put( uniqueKey, marker );
if ( lastPosition != null ) {
MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
long interval = computeAnimDuration( lastPosition.systemTime, recognizedListResult.systemTime, lastPosition.satelliteTime, recognizedListResult.satelliteTime );
MogoLatLng lastPoint = new MogoLatLng( lastPosition.lat, lastPosition.lon );
lastPoint.setTime( lastPosition.satelliteTime );
endLatLon.setTime( recognizedListResult.satelliteTime );
MovingPoint endPoint = new MovingPoint();
endPoint.point = endLatLon;
endPoint.marker = marker;
endPoint.angle = ( float ) recognizedListResult.heading;
MovingPoint startPoint = new MovingPoint();
startPoint.point = lastPoint;
startPoint.point = new MogoLatLng( lastPosition.lat, lastPosition.lon );
startPoint.marker = marker;
startPoint.delay = 0L;
startPoint.angle = ( float ) lastPosition.heading;
List< MovingPoint > points = interpolate( startPoint, endPoint, 30, interval );
long cost = System.currentTimeMillis() - start;
MovingPoint endPoint = new MovingPoint();
endPoint.point = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
endPoint.marker = marker;
endPoint.angle = ( float ) recognizedListResult.heading;
interval -= cost;
endPoint.delay = interval;
List< MovingPoint > points = interpolate( startPoint, endPoint, interval );
Message msg = new Message();
MovingPoints obj = new MovingPoints();
obj.points = points;
msg.obj = obj;
msg.what = MSG_POINTS_SETTING;
mPointSettingHandler.sendMessage( msg );
// marker.startSmoothInMs( points, interval );
// marker.addDynamicAnchorPosition( endLatLon, interval );
Logger.d( TAG, "anim duration: %s, points size = %s", interval, points.size() );
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );

21
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -38,6 +38,11 @@ class BaseDrawer {
public static final int MSG_REMOVE_DIRTY_MARKERS = 9990;
public static final int MSG_REMOVE_ADAS_MARKERS = 9992;
/**
* 地图刷新频率
*/
public static final int MAP_RENDER_FRAME_FREQUENCY = 25;
/**
* 地图内部资源md5缓存，便于资源复用
*/
@@ -234,20 +239,26 @@ class BaseDrawer {
*
* @param start
* @param end
* @param frameInterval
* @return
*/
public static List< MovingPoint > interpolate( MovingPoint start, MovingPoint end, long frameInterval, long duration ) {
public static List< MovingPoint > interpolate( MovingPoint start, MovingPoint end, long duration ) {
if ( start == null || end == null ) {
return null;
}
int interpolateFrame = ( int ) ( duration / frameInterval ) - 1;
int interpolateFrame = ( int ) ( duration / MAP_RENDER_FRAME_FREQUENCY );
if ( duration % MAP_RENDER_FRAME_FREQUENCY < MAP_RENDER_FRAME_FREQUENCY / 2 ) {
interpolateFrame -= 1;
}
// if ( interpolateFrame == 0 ) {
// interpolateFrame = 1;
// }
List< MovingPoint > arrayList = new ArrayList<>();
double _angle = ( end.angle + start.angle ) / 2;
if ( Math.abs( end.angle - start.angle ) > 5 ) {
_angle = Math.atan2( Math.abs( start.point.lon - end.point.lon ), Math.abs( start.point.lat - end.point.lat ) ) * ( 180 / PI );
}
arrayList.add( start );
// arrayList.add( start );
if ( interpolateFrame > 0 ) {
double lonStep = ( end.point.lon - start.point.lon ) / ( interpolateFrame + 1 );
double latStep = ( end.point.lat - start.point.lat ) / ( interpolateFrame + 1 );
@@ -256,6 +267,7 @@ class BaseDrawer {
double lat = start.point.lat + latStep * ( i + 1 );
MovingPoint pd = new MovingPoint();
pd.point = new MogoLatLng( lat, lon );
pd.delay = ( i + i ) * MAP_RENDER_FRAME_FREQUENCY;
pd.angle = ( float ) _angle;
pd.marker = start.marker;
arrayList.add( pd );
@@ -273,6 +285,7 @@ class BaseDrawer {
public MogoLatLng point;
public float angle;
public IMogoMarker marker;
public long delay;
public void move() {
try {

10
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/MarkerDrawer.java
View File

@@ -60,14 +60,18 @@ class MarkerDrawer {
}
public IMogoMarker drawMapMarkerImpl( MarkerShowEntity markerShowEntity, int zIndex, IMogoMarkerClickListener listener ) {
return drawMapMarkerImpl(markerShowEntity, zIndex, 0, listener);
return drawMapMarkerImpl( markerShowEntity, false, zIndex, 0, listener );
}
public IMogoMarker drawMapMarkerImpl( MarkerShowEntity markerShowEntity, int zIndex, int icon3DRes, IMogoMarkerClickListener listener ) {
public IMogoMarker drawMapMarkerImpl( MarkerShowEntity markerShowEntity, boolean matchRoadSide, int zIndex, IMogoMarkerClickListener listener ) {
return drawMapMarkerImpl( markerShowEntity, matchRoadSide, zIndex, 0, listener );
}
public IMogoMarker drawMapMarkerImpl( MarkerShowEntity markerShowEntity, boolean matchRoadSide, int zIndex, int icon3DRes, IMogoMarkerClickListener listener ) {
if ( markerShowEntity == null || markerShowEntity.getMarkerLocation() == null ) {
return null;
}
MogoMarkerOptions options = new MogoMarkerOptions().icon3DRes( icon3DRes ).owner( markerShowEntity.getMarkerType() ).zIndex( zIndex ).object( markerShowEntity ).latitude( markerShowEntity.getMarkerLocation().getLat() ).longitude( markerShowEntity.getMarkerLocation().getLon() );
MogoMarkerOptions options = new MogoMarkerOptions().icon3DRes( icon3DRes ).matchOnRoadSide( matchRoadSide ).owner( markerShowEntity.getMarkerType() ).zIndex( zIndex ).object( markerShowEntity ).latitude( markerShowEntity.getMarkerLocation().getLat() ).longitude( markerShowEntity.getMarkerLocation().getLon() );
IMarkerView markerView = MapMarkerAdapter.getMarkerView( AbsMogoApplication.getApp(), markerShowEntity, options );
if ( markerView instanceof OnlineCarMarkerView ) {
try {

2
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/OnlineCarDrawer.java
View File

@@ -105,7 +105,7 @@ class OnlineCarDrawer {
String sn = MarkerDrawer.getInstance().getPrimaryKeyFromEntity( markerOnlineCar );
IMogoMarker mogoMarker = existCarMap.get( sn );
if ( mogoMarker == null || mogoMarker.isDestroyed() ) {
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, MarkerDrawer.MARKER_Z_INDEX_LOW, R.raw.taxi, listener );
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, false, MarkerDrawer.MARKER_Z_INDEX_LOW, R.raw.taxi, listener );
}
if ( mogoMarker != null ) {
mogoMarker.setVisible( true );

4
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/RoadConditionDrawer.java
View File

@@ -86,14 +86,14 @@ class RoadConditionDrawer {
Logger.d( TAG, "draw road condition, sn = %s", sn );
try {
if ( MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() ) {
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, MarkerDrawer.MARKER_Z_INDEX_HIGH, listener );
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, true, MarkerDrawer.MARKER_Z_INDEX_HIGH, listener );
mogoMarker.setInfoWindowAdapter( new RoadConditionInfoWindow3DAdapter( markerShowEntity, AbsMogoApplication.getApp(), mogoMarker.getMogoMarkerOptions() ) );
mogoMarker.showInfoWindow();
} else {
if ( DebugConfig.isRoadEventAnimated() ) {
post2AddAndStartAnimation( markerShowEntity, i * 100L, listener );
} else {
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, MarkerDrawer.MARKER_Z_INDEX_HIGH, listener );
mogoMarker = MarkerDrawer.getInstance().drawMapMarkerImpl( markerShowEntity, false, MarkerDrawer.MARKER_Z_INDEX_HIGH, listener );
}
}
} catch ( Exception e ) {

38
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/SimpleHandlerThreadPool.java
View File

@@ -4,6 +4,7 @@ import android.os.Handler;
import android.os.HandlerThread;
import android.os.Looper;
import android.os.Message;
import android.os.SystemClock;
import android.text.TextUtils;
import android.util.ArrayMap;
@@ -66,7 +67,23 @@ public class SimpleHandlerThreadPool {
Message msg = Message.obtain();
msg.what = MSG_SET_POINT;
msg.obj = points.get( i );
renderHandler.sendMessageDelayed( msg, ( i + 1 ) * 10 );
renderHandler.sendMessageDelayed( msg, points.get(i).delay );
}
}
private long startMove = 0;
private int lastIndex = 0;
private void slowTest(){
if (startMove == 0) {
startMove = SystemClock.uptimeMillis();
} else {
long diff = SystemClock.uptimeMillis() - startMove;
int index = (int) (diff / 30);
if (index - lastIndex > 1) {
Logger.e("MapRenderSlow", "miss " + (index - lastIndex) + " diff: " + diff);
}
lastIndex = index;
}
}
@@ -75,10 +92,11 @@ public class SimpleHandlerThreadPool {
*
* @param pointData
*/
private void moveMarker( BaseDrawer.MovingPoint pointData ) {
if ( pointData == null ) {
private void moveMarker(BaseDrawer.MovingPoint pointData) {
if (pointData == null) {
return;
}
// slowTest();
pointData.move();
}
@@ -175,6 +193,8 @@ public class SimpleHandlerThreadPool {
return;
}
final long start = System.currentTimeMillis();
IMogoMarker marker = markerCache.get( uniqueKey );
CloudRoadData lastPosition = roadDataCache.put( uniqueKey, cloudRoadData );
if ( marker == null || marker.isDestroyed() ) {
@@ -218,25 +238,28 @@ public class SimpleHandlerThreadPool {
SnapshotSetDataDrawer.getInstance().changeIconResourceIfNecessary( cloudRoadData, marker );
// final IMogoMarker finalMarker = marker;
final IMogoMarker finalMarker = marker;
Logger.d( TAG, "work in " + Thread.currentThread().getName() );
if ( lastPosition != null ) {
MogoLatLng endLatLon = new MogoLatLng( cloudRoadData.getWgslat(),cloudRoadData.getWgslon() );
long interval = SnapshotSetDataDrawer.getInstance().computeAnimDuration( lastPosition.getSystemTime(), cloudRoadData.getSystemTime(), lastPosition.getSatelliteTime(), cloudRoadData.getSatelliteTime() );
long cost = System.currentTimeMillis() - start;
interval -= cost;
MogoLatLng lastPoint = new MogoLatLng( lastPosition.getWgslat(), lastPosition.getWgslon() );
lastPoint.setTime( lastPosition.getSatelliteTime() );
endLatLon.setTime( cloudRoadData.getSatelliteTime() );
BaseDrawer.MovingPoint endPoint = new BaseDrawer.MovingPoint();
endPoint.point = endLatLon;
endPoint.marker = marker;
endPoint.delay = interval;
endPoint.angle = ( float ) cloudRoadData.getHeading();
BaseDrawer.MovingPoint startPoint = new BaseDrawer.MovingPoint();
startPoint.point = lastPoint;
startPoint.marker = marker;
startPoint.delay = 0;
startPoint.angle = ( float ) lastPosition.getHeading();
List< BaseDrawer.MovingPoint > points = BaseDrawer.interpolate( startPoint, endPoint, 20, interval );
List< BaseDrawer.MovingPoint > points = BaseDrawer.interpolate( startPoint, endPoint, interval );
Message msg = new Message();
BaseDrawer.MovingPoints obj = new BaseDrawer.MovingPoints();
obj.points = points;
@@ -261,6 +284,7 @@ public class SimpleHandlerThreadPool {
// // 由于地图现在不支持addDynamicAnchorPosition并发，所以工作线程仅做相关计算，真正绘制发送到另外一条绘制线程中做
// if ( lastPosition != null && !lastPosition.equals( cloudRoadData ) ) {
// long interval = SystemClock.uptimeMillis() - lastExecutionTimeCache.get( uniqueKey );
// interval = cloudRoadData.getSystemTime() - lastPosition.getSystemTime();
// finalMarker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getWgslat(), cloudRoadData.getWgslon() ), interval );
// Logger.d( TAG, "anim duration: %s in thread: %s", interval, Thread.currentThread().getName() );
// } else {

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2
modules/mogo-module-service/src/main/assets/adas.txt
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1
modules/mogo-module-service/src/main/assets/loc3.txt Normal file
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4232
modules/mogo-module-service/src/main/assets/snapshot2.txt Normal file
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74
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
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@@ -28,11 +28,14 @@ import com.mogo.map.search.geo.MogoGeocodeResult;
import com.mogo.map.search.geo.MogoRegeocodeResult;
import com.mogo.map.search.geo.query.MogoRegeocodeQuery;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.dialog.WMDialog;
import com.mogo.module.common.drawer.AdasRecognizedResultDrawer;
import com.mogo.module.common.drawer.SnapshotSetDataDrawer;
import com.mogo.module.service.MarkerServiceHandler;
import com.mogo.module.service.R;
import com.mogo.module.service.uploadintime.SnapshotLocationController;
import com.mogo.realtime.core.SnapshotUploadInTime;
import com.mogo.realtime.entity.ADASRecognizedResult;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
@@ -557,11 +560,28 @@ public class MockIntentHandler implements IntentHandler {
break;
case 47:
mLocationMockHandler.sendEmptyMessageDelayed( 1, 200L );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
// mLocationMockHandler.sendEmptyMessageDelayed( 2, 0 );
// mLocationMockHandler.sendEmptyMessageDelayed( 21, 200 );
// mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 0L );
// mLocationMockHandler.sendEmptyMessageDelayed( 5, 0L );
break;
case 48:
MogoMarkerOptions options = new MogoMarkerOptions()
.owner( DataTypes.TYPE_MARKER_ADAS )
.anchor( 0.5f, 0.5f )
.set3DMode( true )
.position( new MogoLatLng( 39.981971055705,116.41150648393 ) )
.gps( true )
.controlAngle( true )
.icon3DRes( R.raw.cargrey )
.rotate( ( float ) 358.526123 );
IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( context ).addMarker( DataTypes.TYPE_MARKER_ADAS, options );
List<MogoLatLng> latLngs = new ArrayList<>( );
latLngs.add( new MogoLatLng( 39.981971055705,116.41150648393 ) );
latLngs.add( new MogoLatLng( 39.981990561932,116.412893641626 ) );
marker.startSmoothInMs(latLngs, 20_000L );
break;
}
}
@@ -647,6 +667,17 @@ public class MockIntentHandler implements IntentHandler {
}
br5 = null;
}
} else if ( msg.what == 48 ) {
try {
handleMockLocationIntent48();
} catch ( Exception e ) {
try {
br48.close();
} catch ( IOException ex ) {
ex.printStackTrace();
}
br48 = null;
}
}
}
};
@@ -663,17 +694,41 @@ public class MockIntentHandler implements IntentHandler {
throw new Exception( "end of file." );
}
JSONObject jo = new JSONObject( line );
jo.put( "satelliteTime", System.currentTimeMillis() );
jo.put( "systemTime", System.currentTimeMillis() );
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
SnapshotLocationController.getInstance().syncAdasLocationInfo( jo );
Log.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
mLocationMockHandler.sendEmptyMessageDelayed( 1, 100L );
return true;
}
private BufferedReader br48;
int count = 0;
private boolean handleMockLocationIntent48() throws Exception {
if ( br48 == null ) {
br48 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "loc3.txt" ) ) );
}
final long start = System.currentTimeMillis();
String line = br48.readLine();
if ( line == null ) {
throw new Exception( "end of file." );
}
JSONObject jo = new JSONObject( line );
MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( jo );
Logger.i( "mock-timer-loc", "cost " + ( System.currentTimeMillis() - start ) + "ms: count=%s", ++count );
mLocationMockHandler.sendEmptyMessageDelayed( 48, 100L );
return true;
}
private BufferedReader br2;
private long last = 0;
private boolean handleMockSnapshotIntent() throws Exception {
if ( br2 == null ) {
br2 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "snapshot.txt" ) ) );
br2 = new BufferedReader( new InputStreamReader( AbsMogoApplication.getApp().getAssets().open( "snapshot2.txt" ) ) );
}
String line = br2.readLine();
if ( line == null ) {
@@ -688,15 +743,20 @@ public class MockIntentHandler implements IntentHandler {
// double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
// cloudRoadData.setLon( coor[0] );
// cloudRoadData.setLat( coor[1] );
cloudRoadData.setWgslat(cloudRoadData.getLat());
cloudRoadData.setWgslon(cloudRoadData.getLon());
cloudRoadData.setWgslat( cloudRoadData.getLat() );
cloudRoadData.setWgslon( cloudRoadData.getLon() );
allList.add( cloudRoadData );
data.setAllList( allList );
final long start = System.currentTimeMillis();
SnapshotSetDataDrawer.getInstance().renderSnapshotData( data );
Log.i( "mock-timer-snapshot", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 100L );
long delay = 100;
if (last != 0){
delay = cloudRoadData.getSystemTime() - last;
}
last = cloudRoadData.getSystemTime();
mLocationMockHandler.sendEmptyMessageDelayed( 2, delay );
return true;
}
@@ -731,6 +791,7 @@ public class MockIntentHandler implements IntentHandler {
}
private BufferedReader br3;
private long lastTime = 0;
private boolean handleMockAdasIntent() throws Exception {
if ( br3 == null ) {
@@ -751,6 +812,7 @@ public class MockIntentHandler implements IntentHandler {
allList.add( adasRecognizedResult );
final long start = System.currentTimeMillis();
AdasRecognizedResultDrawer.getInstance().renderAdasRecognizedResult( allList );
Log.i( "mock-timer-adas", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 100L );