Merge branch 'dev_MogoAP_eagle-930_210926_8.0.12' into dev_MogoAP_eagle-1030_211020_8.0.14

# Conflicts: # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt # gradle.properties # modules/mogo-module-adas/build.gradle # modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java # modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java # services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java # services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
2021-10-28 10:20:23 +08:00
parent faede749a8 0fea60b5f1
commit 02f5f7cbee
11 changed files with 384 additions and 40 deletions
--- a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -34,8 +34,11 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.smp.utils.MapAssetStyleUtils;
 import com.mogo.eagle.core.function.smp.view.ISmallMapDirectionView;
 import com.mogo.eagle.core.widget.RoundLayout;
+import com.mogo.map.location.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.utils.DrivingDirectionUtils;
+import com.mogo.module.common.utils.LocationUtils;
 import com.mogo.utils.logger.Logger;

 import java.util.ArrayList;
@@ -183,7 +186,7 @@ public class SmallMapDirectionView
    public void onCarLocationChanged2(Location latLng) {
        //Logger.d(MODULE_NAME, "onCarLocationChanged2 latLng:" + latLng);
        LatLng currentLatLng = new LatLng(latLng.getLatitude(), latLng.getLongitude());
-
+        //更新车辆位置
        if (mCarMarker != null) {
 //            mCarMarker.setRotateAngle(360 - latLng.getBearing());
            mCarMarker.setPosition(currentLatLng);
@@ -191,54 +194,83 @@ public class SmallMapDirectionView
        }


-//        if (mCoordinatesLatLng.size() > 1) {
+        if (mCoordinatesLatLng.size() > 1) {
 //            mCoordinatesLatLngCurrent.clear();
 //            for (LatLng lng : mCoordinatesLatLng) {
 //                MogoLatLng mogoLatLng = new MogoLatLng(lng.latitude, lng.longitude);
 //                mCoordinatesLatLngCurrent.add(mogoLatLng);
 //            }
-//
-//            // 结束位置
-//            LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
-//            // 与结束位置进行 GeoHash 0-12
-////            GeoHash endGeoHash = GeoHash.withCharacterPrecision(endLatLng.latitude, endLatLng.longitude, 7);
-////            GeoHash currentGeoHash = GeoHash.withCharacterPrecision(currentLatLng.latitude, currentLatLng.longitude, 7);
-////            Log.d(MODULE_NAME, "currentGeoHash=" + currentGeoHash);
-////            Log.d(MODULE_NAME, "endGeoHash=" + endGeoHash);
-//
-//            float calculateDistance = CoordinateUtils.calculateLineDistance(
-//                    endLatLng.latitude, endLatLng.longitude,
-//                    currentLatLng.latitude, currentLatLng.longitude
-//            );
-//
-//            Log.d(MODULE_NAME, "calculateDistance=" + calculateDistance);
-//            if (calculateDistance <= 20) {
-//                clearPolyline();
-//            } else {
-//                drawablePolyline(mCoordinatesLatLngCurrent);
-//            }
-//        } else {
-//            //设置希望展示的地图缩放级别
-//            mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(currentLatLng, zoomLevel));
-//        }
+//            removeLoction(latLng);
+
+            // 结束位置
+            LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
+            // 与结束位置进行 GeoHash 0-12
+//            GeoHash endGeoHash = GeoHash.withCharacterPrecision(endLatLng.latitude, endLatLng.longitude, 7);
+//            GeoHash currentGeoHash = GeoHash.withCharacterPrecision(currentLatLng.latitude, currentLatLng.longitude, 7);
+//            Log.d(MODULE_NAME, "currentGeoHash=" + currentGeoHash);
+//            Log.d(MODULE_NAME, "endGeoHash=" + endGeoHash);
+
+            float calculateDistance = CoordinateUtils.calculateLineDistance(
+                    endLatLng.latitude, endLatLng.longitude,
+                    currentLatLng.latitude, currentLatLng.longitude
+            );
+        
+            Log.d(MODULE_NAME, "calculateDistance=" + calculateDistance);
+            if (calculateDistance <= 20) {
+                clearPolyline();
+            } else {
+                drawablePolyline();
+            }
+        } else {
+            //设置希望展示的地图缩放级别
+            mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(currentLatLng, zoomLevel));
+        }
        CameraPosition cameraPosition = new CameraPosition.Builder().target(mCarMarker.getPosition()).bearing(latLng.getBearing()).tilt(0).zoom(zoomLevel).build();
        mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
    }

+    private void removeLoction(Location latLng) {
+        for (LatLng  l: mCoordinatesLatLng){
+            if (!isPointOnCarFront(latLng,l)){
+                mCoordinatesLatLng.remove(l);
+            }
+        }
+    }
+
+    public static boolean isPointOnCarFront(Location carLocal, LatLng pointLocal) {
+        double carLon = carLocal.getLongitude();
+        double carLat = carLocal.getLatitude();
+        double poiLon = pointLocal.longitude;
+        double poiLat = pointLocal.latitude;
+        float carAngle = carLocal.getBearing();
+
+        // 计算车辆与点之间的夹角
+        int diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
+                carLon, carLat, poiLon, poiLat, (int) carAngle);
+
+        if (diffAngle <= 90) {
+            Log.i("lianglihui", "目标点在车辆--前方");
+            return true;
+        } else {
+            Log.i("lianglihui", "目标点在车辆--后方");
+            return false;
+        }
+    }
+
    @Override
    public void onCarLocationChanged(MogoLatLng latLng) {
        Logger.d(MODULE_NAME, "onCarLocationChanged latLng:" + latLng);
    }

    @Override
-    public void drawablePolyline(List<MogoLatLng> coordinates) {
+    public void drawablePolyline() {
        clearPolyline();
 //       mCoordinatesLatLng.clear();
-        List<LatLng>  latLngs =  CoordinateConverterFrom84ForList(mContext,coordinates);
-        mCoordinatesLatLng.addAll(latLngs);
+//        List<LatLng>  latLngs =  CoordinateConverterFrom84ForList(mContext,coordinates);
+//        mCoordinatesLatLng.addAll(latLngs);
 //        for (LatLng coordinate : mCoordinatesLatLng) {
-////            mCoordinatesLatLng.add(new LatLng(coordinate.getLat(), coordinate.getLon()));
-////            Log.e("",coordinate.latitude+":"+coordinate.longitude);
+//            mCoordinatesLatLng.add(new LatLng(coordinate.getLat(), coordinate.getLon()));
+//            Log.e("",coordinate.latitude+":"+coordinate.longitude);
 //        }
        if (mAMap != null) {
            if (mCoordinatesLatLng.size() > 2) {
@@ -290,6 +322,19 @@ public class SmallMapDirectionView
    }
    @Override
    public void clearPolyline() {
+//        mCoordinatesLatLng.clear();
+        if (mPolyline != null) {
+            mPolyline.remove();
+        }
+        if (mStartMarker != null) {
+            mStartMarker.setVisible(false);
+        }
+        if (mEndMarker != null) {
+            mEndMarker.setVisible(false);
+        }
+    }
+
+    public void resetPolyine(){
        mCoordinatesLatLng.clear();
        if (mPolyline != null) {
            mPolyline.remove();
@@ -326,9 +371,9 @@ public class SmallMapDirectionView
        }
    }

-    public void setRouteList(List<MogoLatLng> coordinates) {
-//        mCoordinatesLatLng.clear();
-//        List<LatLng>  latLngs =  CoordinateConverterFrom84ForList(mContext,coordinates);
-//        mCoordinatesLatLng.addAll(latLngs);
+    public void convert(List<MogoLatLng> coordinates) {
+        mCoordinatesLatLng.clear();
+        List<LatLng>  latLngs =  CoordinateConverterFrom84ForList(mContext,coordinates);
+        mCoordinatesLatLng.addAll(latLngs);
    }
 }
--- a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
+++ b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
@@ -45,8 +45,8 @@ public class SmallMapFragment extends Fragment {

    public void drawablePolyline(List<MogoLatLng> coordinates) {
        if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.setRouteList(coordinates);
-            mSmallMapDirectionView.drawablePolyline(coordinates);
+            mSmallMapDirectionView.convert(coordinates);
+            mSmallMapDirectionView.drawablePolyline();
        }
    }

--- a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/view/ISmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/view/ISmallMapDirectionView.java
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.smp.view;

+import com.amap.api.maps.model.LatLng;
 import com.mogo.eagle.core.data.map.MogoLatLng;

 import java.util.List;
@@ -13,7 +14,7 @@ public interface ISmallMapDirectionView {
    /**
     * 绘制路径线
     */
-    void drawablePolyline(List<MogoLatLng> coordinates);
+    void drawablePolyline();

    /**
     * 清除路径线
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -3,6 +3,8 @@ package com.mogo.module.adas;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

+import android.util.Log;
+
 import com.google.gson.Gson;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -22,6 +24,18 @@ import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.common.MsgActionType;
 import com.zhidao.support.obu.ami.AmiClientManager;

 import java.util.ArrayList;
@@ -104,6 +118,18 @@ public class AdasEventManager implements
    }


+    @Override
+    public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
+//        Log.e("lianglihui","adas onAutopilotTrajectory");
+        if(trajectoryList != null && trajectoryList.size() >0){
+            for (IAdasDataListener listener : iAdasEventListeners) {
+                if (listener != null) {
+                    listener.onAutopilotTrajectory(trajectoryList);
+                }
+            }
+        }
+    }
+
    @Override
    public void onAutopilotSNRequest() {
        if (providerBizListener != null) {
@@ -113,6 +139,11 @@ public class AdasEventManager implements
        }
    }

+    @Override
+    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
+
+    }
+
    @Override
    public void onWebSocketConnectSuccess() {
        Logger.d(TAG, "webSocket 连接成功");
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
@@ -4,6 +4,17 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.module.adas.entity.WarnMessageModel;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+
+import java.util.List;


 public interface IAdasDataListener {
@@ -50,4 +61,13 @@ public interface IAdasDataListener {
    default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
    }

+    /**
+     * 车前引导路径回调
+     * @param trajectory
+     */
+
+    default void onAutopilotTrajectory(List<TrajectoryInfo> trajectory) {
+
+    }
+
 }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -2,14 +2,17 @@ package com.mogo.module.service.routeoverlay;

 import android.content.Context;
 import android.location.Location;
+import android.util.Log;

 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.drawer.MarkerDrawer;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
+import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;

+import java.util.ArrayList;
 import java.util.List;

 public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2 {
@@ -29,10 +32,25 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2

            @Override
            public void routeResult(List<MogoLatLng> routeList) {
+                Log.e("lianglihui","routeResult:"+routeList.size());
                RouteOverlayDrawer.getInstance(mContext).putRouteList(routeList);
            }
        });
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasTrajectoryDataCallBack(new IMogoAdasTrajectoryDataCallBack() {

+            @Override
+            public void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfos) {
+                if (trajectoryInfos == null || trajectoryInfos.size() == 0){
+                    return;
+                }
+                Log.e("lianglihui","trajectoryInfos:"+trajectoryInfos.size());
+                List<MogoLatLng> mogoLatLngs  = new ArrayList<>();
+                for (ADASTrajectoryInfo a:trajectoryInfos) {
+                    mogoLatLngs.add(new MogoLatLng(a.getLat(),a.getLon()));
+                }
+                RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);
+            }
+        });
    }

    public static MogoRouteOverlayManager getInstance(Context context) {
@@ -49,7 +67,7 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2

    @Override
    public void onCarLocationChanged2(Location latLng) {
-        updateLocation(latLng);
+//        updateLocation(latLng);
    }

    @Override
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -124,4 +124,21 @@ public class RouteOverlayDrawer {
    public void putRouteList(List<MogoLatLng> routeList) {
        this.mRouteList = routeList;
    }
+
+    public void drawTrajectoryList(List<MogoLatLng> routeList) {
+        clearMogoRouteOverlay();
+        if (routeList != null) {
+            for (MogoLatLng latLng : routeList) {
+                mPolylinePointList.add(latLng);
+            }
+            mPolylineOptions.setGps(true);
+            mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
+            // 替换路径集合
+            mPolylineOptions.points(mPolylinePointList);
+            // 线条粗细，渐变，渐变色值
+            mPolylineOptions.width(25).useGradient(true).colorValues(mPolylineColors);
+            // 绘制线
+            mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
+        }
+    }
 }
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
@@ -4,6 +4,8 @@ import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.uicontroller.EnumMapUI;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;

 import java.util.List;

@@ -169,4 +171,15 @@ public interface IMogoADASController extends IProvider {
     */
    void cancelAutopilot();

+    /**
+     * 添加车前引导线回调
+     * @param
+     */
+    void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
+    /**
+     * 移除车前引导线回调
+     * @param
+     */
+    void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack);
+
 }
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasTrajectoryDataCallBack.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasTrajectoryDataCallBack.java
@@ -0,0 +1,9 @@
+package com.mogo.service.adas;
+
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;
+
+import java.util.List;
+
+public interface IMogoAdasTrajectoryDataCallBack {
+    void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfo);
+}
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASTrajectoryInfo.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASTrajectoryInfo.java
@@ -0,0 +1,115 @@
+package com.mogo.service.adas.entity;
+
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/21
+ */
+public class ADASTrajectoryInfo {
+    //经度
+    private Double lon;
+    //纬度
+    private Double lat;
+    //高度
+    private Double alt;
+    //时间 秒s
+    private Double time;
+    //速度 m/s
+    private Double velocity;
+    //加速度
+    private Double acceleration;
+    //速度方向
+    private Double theta;
+    //曲率
+    private Double kappa;
+    //从起点到目前的总距离
+    private Double accumulatedDis;
+
+    public void setLon(Double lon) {
+        this.lon = lon;
+    }
+
+    public void setLat(Double lat) {
+        this.lat = lat;
+    }
+
+    public void setAlt(Double alt) {
+        this.alt = alt;
+    }
+
+    public void setTime(Double time) {
+        this.time = time;
+    }
+
+    public void setVelocity(Double velocity) {
+        this.velocity = velocity;
+    }
+
+    public void setAcceleration(Double acceleration) {
+        this.acceleration = acceleration;
+    }
+
+    public void setTheta(Double theta) {
+        this.theta = theta;
+    }
+
+    public void setKappa(Double kappa) {
+        this.kappa = kappa;
+    }
+
+    public void setAccumulatedDis(Double accumulatedDis) {
+        this.accumulatedDis = accumulatedDis;
+    }
+
+    public Double getLon() {
+        return lon;
+    }
+
+    public Double getLat() {
+        return lat;
+    }
+
+    public Double getAlt() {
+        return alt;
+    }
+
+    public Double getTime() {
+        return time;
+    }
+
+    public Double getVelocity() {
+        return velocity;
+    }
+
+    public Double getAcceleration() {
+        return acceleration;
+    }
+
+    public Double getTheta() {
+        return theta;
+    }
+
+    public Double getKappa() {
+        return kappa;
+    }
+
+    public Double getAccumulatedDis() {
+        return accumulatedDis;
+    }
+
+    @Override
+    public String toString() {
+        return "TrajectoryModels{" +
+                "lon=" + lon +
+                ", lat=" + lat +
+                ", alt=" + alt +
+                ", time='" + time + '\'' +
+                ", velocity=" + velocity +
+                ", acceleration=" + acceleration +
+                ", theta=" + theta +
+                ", kappa=" + kappa +
+                ", accumulatedDis=" + accumulatedDis +
+                '}';
+    }
+}
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -3,6 +3,11 @@ package com.mogo.service.impl.adas;
 import android.app.Application;
 import android.content.Context;
 import android.content.Intent;
+import android.os.Handler;
+import android.os.Message;
+import android.os.SystemClock;
+import android.text.TextUtils;
+import android.util.Log;

 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.launcher.ARouter;
@@ -27,7 +32,16 @@ import com.mogo.service.adas.IMogoAdasCarDataCallback;
 import com.mogo.service.adas.IMogoAdasDataCallback;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
+import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
+import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;
+import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
+import com.mogo.service.adas.entity.CarModelListResponse;
+import com.mogo.service.datamanager.IMogoDataManager;
 import com.mogo.service.impl.singleton.SingletonsHolder;
 import com.mogo.service.statusmanager.IMogoStatusManager;
 import com.mogo.utils.UiThreadHandler;
@@ -37,6 +51,13 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
 import com.zhidao.adasconfig.common.config.EnumCarHeading;
 import com.zhidao.adasconfig.common.config.EnumSkinStyle;
 import com.zhidao.autopilot.support.api.AutopilotServiceManage;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;

 import org.json.JSONObject;

@@ -78,6 +99,11 @@ public class MogoADASController implements IMogoADASController {
     */
    private final List<IMogoAdasRouteCallBack> mMogoAdasRouteCallBacks = new CopyOnWriteArrayList<>();

+    /**
+     * 车前引导线回调
+     */
+    private final List<IMogoAdasTrajectoryDataCallBack> mMogoAdasTrajectoryDataCallBacks = new CopyOnWriteArrayList<>();
+
    private IAdasDataListener mAdasDataListener;

    private IMogoAdasCarDataCallback mMogoAdasCarDataCallback;
@@ -170,6 +196,7 @@ public class MogoADASController implements IMogoADASController {
                    });
                }

+
                @Override
                public void autopilotArrive(AutopilotStationInfo autopilotArriveModel) {
                    if (autopilotArriveModel == null) {
@@ -187,6 +214,37 @@ public class MogoADASController implements IMogoADASController {
                    }
                }

+                @Override
+                public void onAutopilotTrajectory(List<TrajectoryInfo> trajectorys) {
+                    if(trajectorys != null && trajectorys.size() > 0){
+                        List<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
+//                        TrajectoryInfo t= trajectorys.get(0);
+                        Log.e("lianglihui","time:"+ System.currentTimeMillis());
+                        for (TrajectoryInfo trajectory : trajectorys){
+                            ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
+                            adasTrajectoryInfo.setLat(trajectory.getLat());
+                            adasTrajectoryInfo.setLon(trajectory.getLon());
+                            adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
+                            adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
+                            adasTrajectoryInfo.setTime(trajectory.getTime());
+                            adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
+                            adasTrajectoryInfo.setAlt(trajectory.getAlt());
+                            adasTrajectoryInfo.setKappa(trajectory.getKappa());
+                            adasTrajectoryInfo.setTheta(trajectory.getTheta());
+                            Log.e("lianglihui","trajectory:"+ trajectory.getLat()+"-"+trajectory.getLon());
+                            trajectoryInfoArrayList.add(adasTrajectoryInfo);
+                        }
+
+                        for (IMogoAdasTrajectoryDataCallBack  callBack: mMogoAdasTrajectoryDataCallBacks){
+                            if (callBack != null){
+                                callBack.onAutopilotTrajectory(trajectoryInfoArrayList);
+                            }
+                        }
+
+                    }
+                }
+
+
                @Override
                public void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
                    if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
@@ -501,6 +559,23 @@ public class MogoADASController implements IMogoADASController {
    public void cancelAutopilot() {
        adasProvider.cancelPilot();
    }
+
+    @Override
+    public void addAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
+        if (callBack == null) {
+            return;
+        }
+        if (!mMogoAdasTrajectoryDataCallBacks.contains(callBack)) {
+            mMogoAdasTrajectoryDataCallBacks.add(callBack);
+        }
+    }
+
+    @Override
+    public void removeAdasTrajectoryDataCallBack(IMogoAdasTrajectoryDataCallBack callBack) {
+        if (callBack != null){
+            mMogoAdasTrajectoryDataCallBacks.remove(callBack);
+        }
+    }
 }