From fe1be1667d89f39535778d12ad151e1d75208afe Mon Sep 17 00:00:00 2001 From: wangcongtao Date: Tue, 2 Mar 2021 19:29:47 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BB=A3=E7=A0=81=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mogo/map/impl/custom/AMapViewWrapper.java | 16 ++++++++ .../custom/uicontroller/AMapUIController.java | 8 ++++ .../custom}/utils/PointInterpolatorUtil.java | 37 +++++++++-------- .../uicontroller/IMogoMapUIController.java | 13 ++++++ .../com/mogo/map/MogoMapUIController.java | 9 ++++ .../drawer/AdasRecognizedResultDrawer.java | 22 +++++++--- .../mogo/module/common/drawer/BaseDrawer.java | 20 +++++++++ .../common/drawer/SnapshotSetDataDrawer.java | 41 +++++++++---------- .../src/main/assets/adas.txt | 2 +- .../src/main/assets/snapshot.txt | 2 +- .../service/intent/MockIntentHandler.java | 37 ++++++++--------- 11 files changed, 139 insertions(+), 68 deletions(-) rename {modules/mogo-module-common/src/main/java/com/mogo/module/common => libraries/map-custom/src/main/java/com/mogo/map/impl/custom}/utils/PointInterpolatorUtil.java (63%) diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java index 4895e0c581..ba1a2dd726 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java @@ -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; + } } diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java index e016868c6f..9126afe403 100644 --- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/uicontroller/AMapUIController.java @@ -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; + } } diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/PointInterpolatorUtil.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java similarity index 63% rename from modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/PointInterpolatorUtil.java rename to libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java index ca1cee5461..5ee4c5faeb 100644 --- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/PointInterpolatorUtil.java +++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/PointInterpolatorUtil.java @@ -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 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 road) { + private static void getCloseTwoPoint(double lon, double lat, List 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}; } } diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java index b89df8e67b..19d915a4bd 100644 --- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java +++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java @@ -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; + } } diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java index fce61972a2..b4dbff4ced 100644 --- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java +++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java @@ -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; + } } 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 659662349b..675455448c 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 @@ -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 ); 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 df9094e5c9..b984bf36bc 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 @@ -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 ); + } } 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 af49364169..7456dfe428 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 @@ -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() ); diff --git a/modules/mogo-module-service/src/main/assets/adas.txt b/modules/mogo-module-service/src/main/assets/adas.txt index 9dd41ebcdb..4cec33c359 100644 --- a/modules/mogo-module-service/src/main/assets/adas.txt +++ b/modules/mogo-module-service/src/main/assets/adas.txt @@ -1 +1 @@ -{"systemTime":1611556682105,"satelliteTime":1611556682105,"lon":116.415624316091,"lat":39.975773659593,"alt":34.49109268,"heading":264.9971313,"speed":13.462184,"type":3,"uuid":2_1"} {"systemTime":1611556682207,"satelliteTime":1611556682207,"lon":116.415608582248,"lat":39.975773016881,"alt":34.49009323,"heading":264.8890991,"speed":13.45658,"type":3,"uuid":2_2"} {"systemTime":1611556682312,"satelliteTime":1611556682312,"lon":116.415592863027,"lat":39.975772346554,"alt":34.49045563,"heading":264.7972717,"speed":13.44318,"type":3,"uuid":2_1"} 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a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java +++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java @@ -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; }