代码优化

2021-03-02 19:29:47 +08:00
parent 4d62d6f58c
commit fe1be1667d
11 changed files with 139 additions and 68 deletions
--- 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 );
--- 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 );
+    }
 }
--- 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() );
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/PointInterpolatorUtil.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/PointInterpolatorUtil.java
@@ -1,78 +0,0 @@
-package com.mogo.module.common.utils;
-
-import com.mogo.cloud.commons.utils.CoordinateUtils;
-import com.mogo.map.MogoLatLng;
-import com.mogo.utils.logger.Logger;
-
-import java.util.List;
-
-/**
- * 点之间插值工具类
- *
- * @author tongchenfei
- */
-public class PointInterpolatorUtil {
-    private static final String TAG = "PointInterpolatorUtil";
-    private static final int DISTANCE_THRESHOLD = 2;
-
-    public static void interpolate(List<MogoLatLng> points) {
-        if (points.size() >= 2) {
-            // 插值
-            for (int i = 0; i < points.size() - 1; i++) {
-                MogoLatLng current = points.get(i);
-                MogoLatLng next = points.get(i + 1);
-                float distance = CoordinateUtils.calculateLineDistance(current.lon, current.lat, next.lon, next.lat);
-                Logger.d(TAG, i + ": " + distance);
-                if (distance > DISTANCE_THRESHOLD) {
-                    int inter = (int) (distance / DISTANCE_THRESHOLD);
-                    for (int j = 0; j < inter; j++) {
-                        double newLat = current.lat + (next.lat - current.lat) * 2 * (j + 1) / distance;
-                        double newLon = current.lon + (next.lon - current.lon) * 2 * (j + 1) / distance;
-                        Logger.d(TAG, "distance: " + distance + ", j: " + j + ", nextLat: " + next.lat + ", nextLon: " + next.lon + ", newLat: " + newLat + ", newLon: " + newLon);
-                        points.add(i + 1, new MogoLatLng(newLat, newLon));
-                        current = points.get(++i);
-                    }
-                }
-            }
-
-        }
-    }
-
-    public static MogoLatLng mergeToRoad(MogoLatLng current, List<MogoLatLng> 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);
-    }
-
-    private static int closeStart = 0;
-    private static int closeEnd = 0;
-
-    private static void getCloseTwoPoint(MogoLatLng current, List<MogoLatLng> 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);
-        if (startDistance > endDistance) {
-            closeStart += (closeEnd - closeStart) / 2;
-        } else {
-            closeEnd -= (closeEnd - closeStart) / 2;
-        }
-        getCloseTwoPoint(current, road);
-    }
-
-    private static MogoLatLng getFoot(MogoLatLng pt, MogoLatLng beginPt, MogoLatLng endPt) {
-        double dx = beginPt.lat - endPt.lat;
-        double dy = beginPt.lon - endPt.lon;
-
-        double u = (pt.lat - beginPt.lat) * (beginPt.lat - endPt.lat) +
-                (pt.lon - beginPt.lon) * (beginPt.lon - endPt.lon);
-        u = u / (dx * dx + dy * dy);
-        return new MogoLatLng(beginPt.lat + u * dx, beginPt.lon + u * dy);
-    }
-}