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代码优化

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This commit is contained in:
wangcongtao
2021-03-02 19:29:47 +08:00
parent 4d62d6f58c
commit fe1be1667d
11 changed files with 139 additions and 68 deletions
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16
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
View File

@@ -15,6 +15,7 @@ import android.view.ViewGroup;
import android.view.animation.Interpolator;
import android.widget.TextView;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.debug.DebugConfig;
import com.mogo.map.IMogoMap;
import com.mogo.map.IMogoMapView;
@@ -23,6 +24,7 @@ import com.mogo.map.impl.custom.location.GpsTester;
import com.mogo.map.impl.custom.navi.NaviClient;
import com.mogo.map.impl.custom.utils.MogoMapUtils;
import com.mogo.map.impl.custom.utils.ObjectUtils;
import com.mogo.map.impl.custom.utils.PointInterpolatorUtil;
import com.mogo.map.listener.MogoMapListenerHandler;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.map.uicontroller.CarCursorOption;
@@ -44,6 +46,8 @@ import com.zhidaoauto.map.sdk.open.abs.OnMapTouchListener;
import com.zhidaoauto.map.sdk.open.camera.CameraPosition;
import com.zhidaoauto.map.sdk.open.camera.CameraUpdateFactory;
import com.zhidaoauto.map.sdk.open.camera.LatLngBounds;
import com.zhidaoauto.map.sdk.open.data.MapDataApi;
import com.zhidaoauto.map.sdk.open.data.SinglePointRoadInfo;
import com.zhidaoauto.map.sdk.open.location.LocationListener;
import com.zhidaoauto.map.sdk.open.location.MyLocationStyle;
import com.zhidaoauto.map.sdk.open.location.RTKAutopilotLocationBean;
@@ -1014,4 +1018,16 @@ public class AMapViewWrapper implements IMogoMapView,
e.printStackTrace();
}
}
@Override
public double[] matchRoad( double lon, double lat, double angle, boolean isRTK ) {
SinglePointRoadInfo singlePointRoadInfo = MapDataApi.INSTANCE.getSinglePointMatchRoad( ( ( float ) lon ), ( ( float ) lat ), ( ( float ) angle ), !isRTK, isRTK );
if ( singlePointRoadInfo != null
&& singlePointRoadInfo.getCoords() != null
&& !singlePointRoadInfo.getCoords().isEmpty() ) {
double matchedPoint[] = PointInterpolatorUtil.mergeToRoad(lon, lat, singlePointRoadInfo.getCoords());
return CoordinateUtils.transformWgsToGcj( matchedPoint[1], matchedPoint[0] );
}
return null;
}
}

8
libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java
View File

@@ -313,4 +313,12 @@ public class AMapUIController implements IMogoMapUIController {
mClient.openVrMode( zoomGestureEnable );
}
}
@Override
public double[] matchRoad( double lon, double lat, double angle, boolean isRTK ) {
if ( mClient != null ) {
return mClient.matchRoad( lon, lat, angle, isRTK );
}
return null;
}
}

37
modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/PointInterpolatorUtil.java → libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java
View File

@@ -1,8 +1,9 @@
package com.mogo.module.common.utils;
package com.mogo.map.impl.custom.utils;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.map.MogoLatLng;
import com.mogo.utils.logger.Logger;
import com.zhidaoauto.map.sdk.open.query.LonLatPoint;
import java.util.List;
@@ -38,41 +39,41 @@ public class PointInterpolatorUtil {
}
}
public static MogoLatLng mergeToRoad(MogoLatLng current, List<MogoLatLng> road) {
public static double[] mergeToRoad(double lon, double lat, List< LonLatPoint > road) {
closeStart = 0;
closeEnd = road.size() - 1;
getCloseTwoPoint(current, road);
MogoLatLng start = road.get(closeStart);
MogoLatLng end = road.get(closeEnd);
return getFoot(current, start, end);
getCloseTwoPoint(lon, lat, road);
LonLatPoint start = road.get(closeStart);
LonLatPoint end = road.get(closeEnd);
return getFoot(lon, lat, start, end);
}
private static int closeStart = 0;
private static int closeEnd = 0;
private static void getCloseTwoPoint(MogoLatLng current, List<MogoLatLng> road) {
private static void getCloseTwoPoint(double lon, double lat, List<LonLatPoint> road) {
if (closeEnd - closeStart == 1) {
return;
}
MogoLatLng start = road.get(closeStart);
MogoLatLng end = road.get(closeEnd);
float startDistance = CoordinateUtils.calculateLineDistance(start.lon, start.lat, current.lon, current.lat);
float endDistance = CoordinateUtils.calculateLineDistance(end.lon, end.lat, current.lon, current.lat);
LonLatPoint start = road.get(closeStart);
LonLatPoint end = road.get(closeEnd);
float startDistance = CoordinateUtils.calculateLineDistance(start.getLongitude(), start.getLatitude(), lon, lat);
float endDistance = CoordinateUtils.calculateLineDistance(end.getLongitude(), end.getLatitude(), lon, lat);
if (startDistance > endDistance) {
closeStart += (closeEnd - closeStart) / 2;
} else {
closeEnd -= (closeEnd - closeStart) / 2;
}
getCloseTwoPoint(current, road);
getCloseTwoPoint(lon, lat, road);
}
private static MogoLatLng getFoot(MogoLatLng pt, MogoLatLng beginPt, MogoLatLng endPt) {
double dx = beginPt.lat - endPt.lat;
double dy = beginPt.lon - endPt.lon;
private static double[] getFoot(double lon, double lat, LonLatPoint beginPt, LonLatPoint endPt) {
double dx = beginPt.getLatitude() - endPt.getLatitude();
double dy = beginPt.getLongitude() - endPt.getLongitude();
double u = (pt.lat - beginPt.lat) * (beginPt.lat - endPt.lat) +
(pt.lon - beginPt.lon) * (beginPt.lon - endPt.lon);
double u = (lat - beginPt.getLatitude()) * (beginPt.getLatitude() - endPt.getLatitude()) +
(lon - beginPt.getLongitude()) * (beginPt.getLongitude() - endPt.getLongitude());
u = u / (dx * dx + dy * dy);
return new MogoLatLng(beginPt.lat + u * dx, beginPt.lon + u * dy);
return new double[]{ beginPt.getLongitude() + u * dy, beginPt.getLatitude() + u * dx};
}
}

13
libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
View File

@@ -274,4 +274,17 @@ public interface IMogoMapUIController {
default void openVrMode( boolean zoomGestureEnable ) {
}
/**
* 将一个点匹配到车道的中心点
*
* @param lon
* @param lat
* @param angle
* @param isRTK
* @return
*/
default double[] matchRoad( double lon, double lat, double angle, boolean isRTK ) {
return null;
}
}

9
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
View File

@@ -353,4 +353,13 @@ public class MogoMapUIController implements IMogoMapUIController {
mDelegate.openVrMode( zoomGestureEnable );
}
}
@Override
public double[] matchRoad( double lon, double lat, double angle, boolean isRTK ) {
initDelegate();
if ( mDelegate != null ) {
return mDelegate.matchRoad( lon, lat, angle, isRTK );
}
return null;
}
}

22
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
View File

@@ -2,6 +2,7 @@ package com.mogo.module.common.drawer;
import android.content.Context;
import android.text.TextUtils;
import android.util.Log;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.commons.debug.DebugConfig;
@@ -13,7 +14,6 @@ import com.mogo.module.common.R;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.realtime.entity.ADASRecognizedResult;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -92,7 +92,20 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
continue;
}
final long start = System.currentTimeMillis();
double[] matchedPoint = matchRoad( recognizedListResult.lon,
recognizedListResult.lat,
recognizedListResult.heading,
recognizedListResult.dataAccuracy == 1
);
Log.i("match-road-timer", "cost " + (System.currentTimeMillis() - start) + "ms");
if ( matchedPoint != null ) {
recognizedListResult.lon = matchedPoint[0];
recognizedListResult.lat = matchedPoint[1];
}
IMogoMarker marker = mAdasRecognizedMarkersCaches.remove( uniqueKey );
ADASRecognizedResult lastPosition = mLastPositions.put( uniqueKey, recognizedListResult );
if ( marker == null || marker.isDestroyed() ) {
marker = drawAdasRecognizedDataMarker( recognizedListResult );
@@ -101,17 +114,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
}
}
newAdasRecognizedMarkersCaches.put( uniqueKey, marker );
if ( lastPosition != null && !DebugConfig.isNotSmooth() ) {
List< MogoLatLng > points = new ArrayList<>();
if ( lastPosition != null ) {
MogoLatLng endLatLon = new MogoLatLng( recognizedListResult.lat, recognizedListResult.lon );
points.add( new MogoLatLng( lastPosition.lat, lastPosition.lon ) );
points.add( endLatLon );
long interval = recognizedListResult.systemTime - lastPosition.systemTime;
if ( interval < 45 ) {
interval = 45;
}
interval -= 25;
marker.startSmoothInMs( points, interval );
marker.addDynamicAnchorPosition( endLatLon, interval );
} else {
marker.setRotateAngle( ( ( float ) recognizedListResult.heading ) );
marker.setPosition( recognizedListResult.lat, recognizedListResult.lon );

20
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
View File

@@ -9,7 +9,9 @@ import android.text.TextUtils;
import android.view.ViewGroup;
import android.widget.TextView;
import com.mogo.cloud.commons.utils.CoordinateUtils;
import com.mogo.commons.AbsMogoApplication;
import com.mogo.map.MogoLatLng;
import com.mogo.map.marker.IMogoMarker;
import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.constants.AdasRecognizedType;
@@ -177,4 +179,22 @@ class BaseDrawer {
}
mMarkerCachesResMd5Values.put( id, md5 );
}
/**
* 道路匹配到车道中心点
*
* @param lon
* @param lat
* @param angle
* @param isRtk
* @return
*/
protected double[] matchRoad( double lon, double lat, double angle, boolean isRtk ) {
double amap[] = CoordinateUtils.transformGcj02toWgs84( lat, lon );
return MogoApisHandler.getInstance()
.getApis()
.getMapServiceApi()
.getMapUIController()
.matchRoad( amap[0], amap[1], angle, isRtk );
}
}

41
modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
View File

@@ -16,8 +16,6 @@ import com.mogo.module.common.MogoApisHandler;
import com.mogo.module.common.R;
import com.mogo.module.common.api.CallChatApi;
import com.mogo.module.common.constants.DataTypes;
import com.mogo.module.common.utils.PointInterpolatorUtil;
import com.mogo.realtime.entity.CloudLocationInfo;
import com.mogo.realtime.entity.CloudRoadData;
import com.mogo.realtime.entity.MogoSnapshotSetData;
import com.mogo.service.statusmanager.IMogoStatusChangedListener;
@@ -32,13 +30,14 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
/**
* @author congtaowang
* @since 2020/10/28
*
* 云端数据绘制
*/
public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListener, IMogoStatusChangedListener {
public
/*
* @author congtaowang
* @since 2020/10/28
*
* 云端数据绘制
*/
class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListener, IMogoStatusChangedListener {
private static final String TAG = "SnapshotSetDataDrawer";
@@ -162,6 +161,16 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
continue;
}
double[] matchedPoint = matchRoad( cloudRoadData.getLon(),
cloudRoadData.getLat(),
cloudRoadData.getHeading(),
true
);
if ( matchedPoint != null ) {
cloudRoadData.setLon( matchedPoint[0] );
cloudRoadData.setLat( matchedPoint[1] );
}
IMogoMarker marker = mCloudSnapshotMarkersCaches.remove( uniqueKey );
CloudRoadData lastPosition = mLastPositions.put( uniqueKey, cloudRoadData );
if ( marker == null || marker.isDestroyed() ) {
@@ -189,20 +198,11 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
}
}
if ( lastPosition != null && !DebugConfig.isNotSmooth() ) {
if ( lastPosition != null ) {
if ( lastPosition.equals( cloudRoadData ) ) {
marker.setRotateAngle( ( float ) cloudRoadData.getHeading() );
marker.setPosition( cloudRoadData.getLat(), cloudRoadData.getLon() );
} else {
List< MogoLatLng > points = new ArrayList<>();
points.add( new MogoLatLng( lastPosition.getLat(), lastPosition.getLon() ) );
if ( cloudRoadData.getCoordinates() != null && !cloudRoadData.getCoordinates().isEmpty() ) {
for ( CloudLocationInfo coordinate : cloudRoadData.getCoordinates() ) {
points.add( new MogoLatLng( coordinate.getLat(), coordinate.getLon() ) );
}
} else {
points.add( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ) );
}
long interval = cloudRoadData.getSystemTime() - lastPosition.getSystemTime();
long interval2 = cloudRoadData.getSatelliteTime() - lastPosition.getSatelliteTime();
interval2 = interval < interval2 || interval2 == 0 ? interval : interval2;
@@ -210,8 +210,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
interval2 = 45;
}
interval2 -= 25;
PointInterpolatorUtil.interpolate(points);
marker.startSmoothInMs( points, interval2 );
marker.addDynamicAnchorPosition( new MogoLatLng( cloudRoadData.getLat(), cloudRoadData.getLon() ), interval2 );
}
} else {
marker.setRotateAngle( ( float ) cloudRoadData.getHeading() );

2
modules/mogo-module-service/src/main/assets/adas.txt
View File

File diff suppressed because one or more lines are too long

2
modules/mogo-module-service/src/main/assets/snapshot.txt
View File

File diff suppressed because one or more lines are too long

37
modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
View File

@@ -557,7 +557,7 @@ public class MockIntentHandler implements IntentHandler {
break;
case 47:
mLocationMockHandler.sendEmptyMessageDelayed( 1, 100L );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 100L );
mLocationMockHandler.sendEmptyMessageDelayed( 2, 200L );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 100L );
break;
}
@@ -646,7 +646,6 @@ public class MockIntentHandler implements IntentHandler {
}
private BufferedReader br2;
private int count = 1;
private boolean handleMockSnapshotIntent() throws Exception {
if ( br2 == null ) {
@@ -658,16 +657,14 @@ public class MockIntentHandler implements IntentHandler {
}
MogoSnapshotSetData data = new MogoSnapshotSetData();
List< CloudRoadData > allList = new ArrayList<>();
if ( ++count % 300 != 0 ) {
CloudRoadData cloudRoadData = GsonUtil.objectFromJson( line, CloudRoadData.class );
if ( cloudRoadData == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
cloudRoadData.setLon( coor[0] );
cloudRoadData.setLat( coor[1] );
allList.add( cloudRoadData );
CloudRoadData cloudRoadData = GsonUtil.objectFromJson( line, CloudRoadData.class );
if ( cloudRoadData == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( cloudRoadData.getLat(), cloudRoadData.getLon() );
cloudRoadData.setLon( coor[0] );
cloudRoadData.setLat( coor[1] );
allList.add( cloudRoadData );
data.setAllList( allList );
final long start = System.currentTimeMillis();
@@ -688,21 +685,19 @@ public class MockIntentHandler implements IntentHandler {
throw new Exception( "end of file 3." );
}
List< ADASRecognizedResult > allList = new ArrayList<>();
if ( ++count % 300 != 0 ) {
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( adasRecognizedResult.lat, adasRecognizedResult.lon );
adasRecognizedResult.lon = coor[0];
adasRecognizedResult.lat = coor[1];
allList.add( adasRecognizedResult );
ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson( line, ADASRecognizedResult.class );
if ( adasRecognizedResult == null ) {
return false;
}
double[] coor = CoordinateUtils.transformWgsToGcj( adasRecognizedResult.lat, adasRecognizedResult.lon );
adasRecognizedResult.lon = coor[0];
adasRecognizedResult.lat = coor[1];
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 );
mLocationMockHandler.sendEmptyMessageDelayed( 3, 200L );
return true;
}