Merge branch 'dev_minibus-d_230425_3.2.0' into code_opt_3.3.0

# Conflicts: # core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/CloudPoiManager.java
2023-06-05 16:15:36 +08:00
parent d6149e3875 ccba77a1ea
commit 08f74b7dad
31 changed files with 368 additions and 491 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/view/V2XMarkerRoadEventView.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/view/V2XMarkerRoadEventView.kt
@@ -49,7 +49,7 @@ class V2XMarkerRoadEventView(context: Context, alarmInfo: V2XRoadEventEntity) :
     * @see EventTypeEnumNew
     */
    private fun updateIcon(alarmInfo: V2XRoadEventEntity) {
-        // 道路施工、积水、路面结冰、浓雾、事故、拥堵
+        // 道路施工、积水、路面结冰、事故、拥堵
        val iconResId = EventTypeEnumNew.getUpdateIconRes(alarmInfo.poiType)
        if (iconResId != 0) {
            ivCar.setImageResource(iconResId)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/DriverMonitorView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/DriverMonitorView.kt
@@ -2,18 +2,17 @@ package com.mogo.eagle.core.function.hmi.ui.widget

 import android.app.Application
 import android.content.Context
-import android.os.Handler
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import com.mogo.cloud.live.manager.LiveStreamManagerImpl
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.cloud.trafficlive.api.ITrafficCarLiveCallBack
 import com.mogo.cloud.trafficlive.api.MoGoAiCloudTrafficLive
-import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.widget.RoundConstraintLayout
 import kotlinx.android.synthetic.main.view_driver_monitor.view.ivNormal
 import kotlinx.android.synthetic.main.view_driver_monitor.view.liveProgressBar
@@ -27,37 +26,19 @@ class DriverMonitorView :
    RoundConstraintLayout {
    companion object {
        private val TAG = "DriverMonitorView"
-        private var isLived = false
-
-        // TODO SOP演示功能代码，乘客端查看当前车辆上的司机位置监控，请求的是分体机提供的直播信息，这里采用的是硬编码，因为云平台的操作就是这样，没有接口供查询对应关系
-        private var sopShowDriverMap = HashMap<String, String>()
    }

-    private val mHandler = Handler()
-    private val mRunnable = object : Runnable {
-        override fun run() {
-            // Do something here
-            Logger.d(
-                "${SceneConstant.M_HMI}$TAG",
-                "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
-            )
-            CallerLogger.d(
-                "${SceneConstant.M_HMI}$TAG",
-                "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
-            )
-            showLive()
+    // TODO SOP演示功能代码，乘客端查看当前车辆上的司机位置监控，请求的是分体机提供的直播信息，这里采用的是硬编码，因为云平台的操作就是这样，没有接口供查询对应关系
+    private var sopShowDriverMap = HashMap<String, String>()
+    private var isLived = false

-            mHandler.postDelayed(this, 10000) // 1 second delay
-        }
-    }
+    // 调用直播传入的司机屏幕SN
+    private var currentDriverSN = ""
+
+    // 当前直播源的SN,TODO 如果要测试可以使用下面的SN
+//    private var currentDriverLiveSN = "F803EB2046PZD00164"
+    private var currentDriverLiveSN = ""

-    private val liveStreamManager by lazy {
-        LiveStreamManagerImpl.getInstance(
-            context.applicationContext as Application?,
-            MoGoAiCloudClientConfig.getInstance().sn,
-            false
-        )
-    }

    var liveListener: LiveListener? = null

@@ -83,10 +64,11 @@ class DriverMonitorView :

        textureViewDriverMonitor.isOpaque = false

-        liveStreamManager.setLivePushStatusChangeCallback { }
-
-        // TODO SOP演示需求，只有乘客屏幕才会触发这个逻辑 begin
+        // TODO SOP演示需求，只有乘客屏幕才会触发这个逻辑 ,车上必须配置了分体机作为直播源 begin
+        // http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=111386656
        // 测试数据
+        sopShowDriverMap["F803EB2046PZD00164"] = "F803EB2046PZD00164"//凤坤工位旁的分体机
+        sopShowDriverMap["X20202105189C2522114198E7B3"] = "F803EB2046PZD00164"//凤坤工位旁的分体机
        sopShowDriverMap["X202022060289M7N8P"] = "F803EB2046PZD00188"//湘A01733D
        // key=pad司机屏幕SN，value=分体机SN，value用来调用ZeGo直播服务查看直播，@see MoGoAiCloudTrafficLive.viewDesignativeVehicleLive
        sopShowDriverMap["20220524733SWT1"] = "F803EB2046PZD00190"//湘D01777D
@@ -98,61 +80,99 @@ class DriverMonitorView :
        // TODO SOP演示需求，只有乘客屏幕才会触发这个逻辑 END
        // 点击重新连接直播
        ivNormal.setOnClickListener {
-            showLive()
+            startLive()
        }
-
-        mHandler.postDelayed(mRunnable, 1000) // 1 second delay
-    }
-
-    fun isSOPDriverSn(sn: String) :Boolean{
-        return sopShowDriverMap.containsKey(sn)
    }

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
-        mHandler.removeCallbacks(mRunnable)
-        sopShowDriverMap[CallerTelematicManager.getServerToken()]?.let {
-            MoGoAiCloudTrafficLive.stopCarLive(it)
+        if (currentDriverLiveSN.isNotEmpty()) {
+            MoGoAiCloudTrafficLive.stopCarLive(currentDriverLiveSN)
        }
    }

-    fun showLive() {
-        if (!isLived) {
-            sopShowDriverMap[CallerTelematicManager.getServerToken()]?.let {
-                Logger.d(
-                    "${SceneConstant.M_HMI}$TAG",
-                    "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
-                )
-                CallerLogger.d(
-                    "${SceneConstant.M_HMI}$TAG",
-                    "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
-                )
+    /**
+     * 检查传入的司机端所在车辆是否配置了，F车机作为直播源。ture-有，false-没有
+     */
+    fun isSOPDriverSn(snDriver: String): Boolean {
+        currentDriverSN = snDriver
+        // 查找传入的司机端所在车是否配置了F车机作为直播源
+        sopShowDriverMap[snDriver]?.let {
+            // 这里应对的是乘客端切换连接的司机端的情况，正常情况这里不会执行，一个车只有一个司机端
+            if (isLived && it != currentDriverLiveSN) {
+                stopLive()
+            }
+            currentDriverLiveSN = it
+
+            // 这里知只是了初始化下直播SDK，防止直接调用观看直播时候还未登录问题
+            LiveStreamManagerImpl.getInstance(
+                context.applicationContext as Application?,
+                MoGoAiCloudClientConfig.getInstance().sn,
+                false
+            )
+        } ?: let {
+            // 如果没查到，设置当前车辆为null，并将之前的直播关闭
+            stopLive()
+            currentDriverLiveSN = ""
+        }
+
+        Logger.d(
+            "${SceneConstant.M_HMI}$TAG",
+            "当前车上的司机端SN=${currentDriverSN},直播分体机SN=${currentDriverLiveSN}"
+        )
+        CallerLogger.d(
+            "${SceneConstant.M_HMI}$TAG",
+            "当前车上的司机端SN=${currentDriverSN},直播分体机SN=${currentDriverLiveSN}"
+        )
+        return currentDriverLiveSN.isNotEmpty()
+    }
+
+
+    /**
+     * 打开，司机仓监控直播
+     */
+    fun startLive() {
+        if (currentDriverLiveSN.isNotEmpty()) {
+            Logger.d(
+                "${SceneConstant.M_HMI}$TAG",
+                "检查司机直播……isLived=$isLived  当前车上的司机端SN=${currentDriverSN},直播分体机SN=${currentDriverLiveSN}"
+            )
+            CallerLogger.d(
+                "${SceneConstant.M_HMI}$TAG",
+                "检查司机直播……isLived=$isLived  当前车上的司机端SN=${currentDriverSN},直播分体机SN=${currentDriverLiveSN}"
+            )
+            if (!isLived) {
                MoGoAiCloudTrafficLive.viewDesignativeVehicleLive(
-                    it,
+                    currentDriverLiveSN,
                    textureViewDriverMonitor,
                    carLiveCallBack
                )
-            } ?: let {
-                //为空又怎么撸
-                if (CallerTelematicManager.getServerToken().isNotEmpty()) {
-                    Logger.d(
-                        "${SceneConstant.M_HMI}$TAG",
-                        "检查司机直播……isLived=$isLived  当前车辆SN=${CallerTelematicManager.getServerToken()} 不支持直播"
-                    )
-                    CallerLogger.d(
-                        "${SceneConstant.M_HMI}$TAG",
-                        "检查司机直播……isLived=$isLived  当前车辆SN=${CallerTelematicManager.getServerToken()} 不支持直播"
-                    )
-                    // 乘客屏幕连接上了司机屏，但是司机屏不在直播范围内，进行隐藏操作。
-                    liveListener?.onPlayError()
-                }
+            } else {
+                ToastUtils.showShort("正在直播中")
            }
-            // TODO 测试用的
-//            MoGoAiCloudTrafficLive.viewDesignativeVehicleLive(
-//                "F803EB2046PZD00164",
-//                textureViewDriverMonitor,
-//                carLiveCallBack
-//            )
+        } else {
+            ToastUtils.showShort("当前车内没有直播源")
+            //为空又怎么撸
+            Logger.d(
+                "${SceneConstant.M_HMI}$TAG",
+                "检查司机直播……isLived=$isLived  当前车辆SN=${currentDriverSN} 不支持直播"
+            )
+            CallerLogger.d(
+                "${SceneConstant.M_HMI}$TAG",
+                "检查司机直播……isLived=$isLived  当前车辆SN=${currentDriverSN} 不支持直播"
+            )
+            // 乘客屏幕连接上了司机屏，但是司机屏不在直播范围内，进行隐藏操作。
+            liveListener?.onPlayError()
+        }
+    }
+
+    /**
+     * 关闭，司机仓监控直播
+     */
+    fun stopLive() {
+        isLived = false
+        if (currentDriverLiveSN.isNotEmpty()) {
+            MoGoAiCloudTrafficLive.stopCarLive(currentDriverLiveSN)
        }
    }

@@ -170,20 +190,20 @@ class DriverMonitorView :

    private val carLiveCallBack = object : ITrafficCarLiveCallBack {
        override fun onLive(liveSn: String?) {
-            Logger.d("${SceneConstant.M_HMI}$TAG", "onLive:$liveSn")
+            Logger.i("${SceneConstant.M_HMI}$TAG", "onLive:$liveSn")
            CallerLogger.d("${SceneConstant.M_HMI}$TAG", "onLive:$liveSn")
        }

        override fun onFirstFrame() {
-            Logger.d("${SceneConstant.M_HMI}$TAG", "onFirstFrame:isFirstPage")
+            Logger.i("${SceneConstant.M_HMI}$TAG", "onFirstFrame:isFirstPage")
            CallerLogger.d("${SceneConstant.M_HMI}$TAG", "onFirstFrame:isFirstPage")
            isLived = true
            refreshView(isLived)
        }

        override fun onDisConnect() {
-            Logger.e("${SceneConstant.M_HMI}$TAG", "onDisConnect")
-            CallerLogger.e("${SceneConstant.M_HMI}$TAG", "onDisConnect")
+            Logger.w("${SceneConstant.M_HMI}$TAG", "onDisConnect")
+            CallerLogger.w("${SceneConstant.M_HMI}$TAG", "onDisConnect")
            isLived = false
            refreshView(isLived)
        }
@@ -196,14 +216,16 @@ class DriverMonitorView :
        }

        override fun onPlaying() {
-            Logger.e("${SceneConstant.M_HMI}$TAG", "onPlaying……")
+            Logger.i("${SceneConstant.M_HMI}$TAG", "onPlaying……")
+            CallerLogger.i("${SceneConstant.M_HMI}$TAG", "onPlaying……")
            isLived = true
            refreshView(isLived)
        }

        override fun onPlaRequesting() {
-            Logger.e("${SceneConstant.M_HMI}$TAG", "onPlaRequesting……")
-            isLived = true
+            Logger.w("${SceneConstant.M_HMI}$TAG", "onPlaRequesting……")
+            CallerLogger.w("${SceneConstant.M_HMI}$TAG", "onPlaRequesting……")
+            isLived = false
            refreshView(isLived)
        }
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XFogEventView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/V2XFogEventView.kt
@@ -1,95 +0,0 @@
-package com.mogo.eagle.core.function.hmi.ui.widget
-
-import android.animation.Animator
-import android.animation.Animator.AnimatorListener
-import android.animation.AnimatorSet
-import android.animation.ObjectAnimator
-import android.content.Context
-import android.util.AttributeSet
-import android.view.LayoutInflater
-import android.view.View
-import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.enums.EventTypeEnumNew
-import com.mogo.eagle.core.data.enums.WarningDirectionEnum
-import com.mogo.eagle.core.function.api.hmi.warning.IV2XEventListener
-import com.mogo.eagle.core.function.call.v2x.CallerV2XWarningListenerManager
-import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import kotlinx.android.synthetic.main.view_v2x_warning_fog.view.*
-
-class V2XFogEventView(context: Context, attrs: AttributeSet) :
-    ConstraintLayout(context, attrs), IV2XEventListener {
-
-    companion object {
-        private const val TAG = "V2XFogEventView"
-    }
-
-    private val animatorSet = AnimatorSet()
-
-    init {
-        LayoutInflater.from(context).inflate(R.layout.view_v2x_warning_fog, this, true)
-        val animator1 = ObjectAnimator.ofFloat(iv_wu1, "alpha", 0f, 1f, 0f)
-        val animator2 = ObjectAnimator.ofFloat(iv_wu1, "translationX", -500f, 100f, 300f)
-        val animator3 = ObjectAnimator.ofFloat(iv_wu1, "scaleX", 1f, 1.5f, 2f)
-        val animator4 = ObjectAnimator.ofFloat(iv_wu1, "scaleY", 1f, 1.5f, 2f)
-        val animator5 = ObjectAnimator.ofFloat(iv_wu2, "alpha", 0f, 1f, 0f)
-        val animator6 = ObjectAnimator.ofFloat(iv_wu2, "translationX", 500f, -100f, -300f)
-        val animator7 = ObjectAnimator.ofFloat(iv_wu2, "scaleX", 1f, 1.5f, 2f)
-        val animator8 = ObjectAnimator.ofFloat(iv_wu2, "scaleY", 1f, 1.5f, 2f)
-        animatorSet.playTogether(
-            animator1,
-            animator2,
-            animator3,
-            animator4,
-            animator5,
-            animator6,
-            animator7,
-            animator8
-        )
-        animatorSet.duration = 5000
-        animatorSet.addListener(object : AnimatorListener{
-            override fun onAnimationStart(animation: Animator?) {
-                visibility = View.VISIBLE
-            }
-
-            override fun onAnimationEnd(animation: Animator?) {
-                visibility = View.GONE
-            }
-
-            override fun onAnimationCancel(animation: Animator?) {
-                visibility = View.GONE
-            }
-
-            override fun onAnimationRepeat(animation: Animator?) {
-
-            }
-
-        })
-    }
-
-    override fun onAttachedToWindow() {
-        super.onAttachedToWindow()
-        CallerV2XWarningListenerManager.addListener(TAG, this)
-    }
-
-    override fun show(v2xType: String, direction: WarningDirectionEnum, time: Long) {
-        ThreadUtils.runOnUiThread {
-            if(v2xType == EventTypeEnumNew.FOURS_FOG.poiType){
-                if (animatorSet.isStarted) {
-                    return@runOnUiThread
-                }
-                animatorSet.start()
-            }
-        }
-    }
-
-    override fun dismiss(direction: WarningDirectionEnum) {
-
-    }
-
-    override fun onDetachedFromWindow() {
-        super.onDetachedFromWindow()
-        CallerV2XWarningListenerManager.removeListener(TAG)
-    }
-
-}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/DisplayEffectsHelper.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/DisplayEffectsHelper.java
@@ -1,55 +0,0 @@
-package com.mogo.eagle.core.function.main;
-
-import android.animation.AnimatorSet;
-import android.animation.ObjectAnimator;
-import android.content.res.Resources;
-import android.util.DisplayMetrics;
-import android.view.View;
-
-import com.mogo.eagle.core.function.hmi.R;
-
-
-/**
- * created by wujifei on 2021/3/30 14:05
- * describe:
- */
-public class DisplayEffectsHelper {
-    private volatile static DisplayEffectsHelper instance = null;
-    private AnimatorSet animatorSet;
-
-    public static DisplayEffectsHelper getInstance() {
-        if (instance == null) {
-            synchronized (DisplayEffectsHelper.class) {
-                if (instance == null) {
-                    instance = new DisplayEffectsHelper();
-                }
-            }
-        }
-        return instance;
-    }
-
-    public void init(View rootView) {
-        View view1 = rootView.findViewById(R.id.iv_wu1);
-        View view2 = rootView.findViewById(R.id.iv_wu2);
-        ObjectAnimator animator1 = ObjectAnimator.ofFloat(view1, "alpha", 0f, 1f, 0f);
-        ObjectAnimator animator2 = ObjectAnimator.ofFloat(view1, "translationX", -500, 100f, 300f);
-        ObjectAnimator animator3 = ObjectAnimator.ofFloat(view1, "scaleX", 1f, 1.5f, 2f);
-        ObjectAnimator animator4 = ObjectAnimator.ofFloat(view1, "scaleY", 1f, 1.5f, 2f);
-        ObjectAnimator animator5 = ObjectAnimator.ofFloat(view2, "alpha", 0f, 1f, 0f);
-        ObjectAnimator animator6 = ObjectAnimator.ofFloat(view2, "translationX", 500, -100f, -300f);
-        ObjectAnimator animator7 = ObjectAnimator.ofFloat(view2, "scaleX", 1f, 1.5f, 2f);
-        ObjectAnimator animator8 = ObjectAnimator.ofFloat(view2, "scaleY", 1f, 1.5f, 2f);
-        animatorSet = new AnimatorSet();
-        animatorSet.playTogether(animator1, animator2, animator3, animator4, animator5, animator6, animator7, animator8);
-        animatorSet.setDuration(5000);
-    }
-
-    public void display() {
-        animatorSet.start();
-    }
-
-    private float dp2px(float dp) {
-        DisplayMetrics metrics = Resources.getSystem().getDisplayMetrics();
-        return dp * metrics.density;
-    }
-}
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/wu1.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/wu1.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/wu2.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/wu2.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_v2x_warning_fog.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_v2x_warning_fog.xml
@@ -1,28 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:visibility="gone">
-
-    <ImageView
-        android:id="@+id/iv_wu1"
-        android:layout_width="wrap_content"
-        android:layout_height="match_parent"
-        android:alpha="0"
-        android:src="@drawable/wu1"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintStart_toStartOf="parent"
-        tools:ignore="ContentDescription" />
-
-    <ImageView
-        android:id="@+id/iv_wu2"
-        android:layout_width="wrap_content"
-        android:layout_height="match_parent"
-        android:alpha="0"
-        android:src="@drawable/wu2"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        tools:ignore="ContentDescription" />
-</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
@@ -86,12 +86,33 @@ object MarkerDrawerManager {
        }
    }

-    fun updateRoutePoints(routePoints: List<MessagePad.Location>?, context: Context) {
+    /**
+     * 存储全局轨迹用于轮询计算车已走过的轨迹index
+     */
+    fun updateGDRoutePoints(routePoints: List<LatLng>?) {
        if (routePoints == null || routePoints.isEmpty()) return
-        val latLngModels = coordinateConverterWgsToGcjListCommon(context, routePoints)
-        planningPoints.clear()
-        planningPoints.addAll(latLngModels)
-//        float remainingSumLength = calculateRemainingSumLength(mRoutePoints);
+        synchronized(this) {
+            planningPoints.clear()
+            planningPoints.addAll(routePoints)
+        }
+    }
+
+    fun resetStatus() {
+        synchronized(this) {
+            planningPoints.clear()
+        }
+        lastArrivedIndex = -1
+    }
+
+    /**
+     * 转为高德定位对象
+     */
+    fun change2GDPoints(routePoints: List<MessagePad.Location>?, context: Context): List<LatLng> {
+        return if (routePoints == null || routePoints.isEmpty()) {
+            emptyList()
+        } else {
+            coordinateConverterWgsToGcjListCommon(context, routePoints)
+        }
    }

    /**
@@ -100,6 +121,7 @@ object MarkerDrawerManager {
     * @param realLat
     * @return 返回已经到达点的index
     */
+    @Synchronized
    private fun getCarLocationIndex(
        routePoints: List<LatLng>,
        newPoints: MutableList<LatLng>,
@@ -108,14 +130,24 @@ object MarkerDrawerManager {
        heading: Double
    ): Int {
        var currentIndex = 0 //记录疑似点
+        // 是否超过200KM
+        var isLongDistance = false
        if (routePoints.isNotEmpty()) {
            //基础点
            val baseLatLng = routePoints[0]
+            newPoints.add(baseLatLng)
            var baseDiffDis = CoordinateUtils.calculateLineDistance(
                realLon, realLat, baseLatLng.longitude, baseLatLng.latitude
            ) // lon,lat, prelon, prelat
-            for (i in 1 until routePoints.size) {
+            if (baseDiffDis > 200000) {
+                isLongDistance = true
+            }
+            val size = routePoints.size
+            for (i in 1 until size) {
                val latLng = routePoints[i]
+                // 深拷贝数据用于高德地图上轨迹线的绘制
+                newPoints.add(LatLng(latLng.latitude, latLng.longitude))
+                if (isLongDistance) continue
                val diff = CoordinateUtils.calculateLineDistance(
                    realLon, realLat, latLng.longitude, latLng.latitude
                )
@@ -135,14 +167,20 @@ object MarkerDrawerManager {
                }
            }
            Log.d("MarkerDrawerManager", "当次计算已走过的点的索引为：$currentIndex，存储的上次索引为：$lastArrivedIndex")
-            if (currentIndex < lastArrivedIndex) {
-                currentIndex = lastArrivedIndex
-            } else {
-                lastArrivedIndex = currentIndex
+            if (!isLongDistance) {
+                // 过滤缓存的非当次轨迹的索引，并且出现车已走过索引跳跃过大时视为无效复用上一次计算结果
+                if (currentIndex < lastArrivedIndex || (lastArrivedIndex >= 0 && currentIndex - lastArrivedIndex >= 10)) {
+                    if (lastArrivedIndex < size) {
+                        currentIndex = lastArrivedIndex
+                    }
+                } else {
+                    lastArrivedIndex = currentIndex
+                }
+                if (size >= 2) {
+                    newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
+                    return currentIndex + 1
+                }
            }
-            newPoints.addAll(routePoints)
-            newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
-            return currentIndex + 1
        }
        return 0
    }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -15,10 +15,7 @@ import android.widget.TextView
 import androidx.annotation.MainThread
 import androidx.core.graphics.drawable.toBitmap
 import ch.hsr.geohash.GeoHash
-import com.amap.api.maps.AMap
-import com.amap.api.maps.CameraUpdate
-import com.amap.api.maps.CameraUpdateFactory
-import com.amap.api.maps.TextureMapView
+import com.amap.api.maps.*
 import com.amap.api.maps.model.*
 import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -37,21 +34,18 @@ import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.function.smp.MakerWithCount
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.callback
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.change2GDPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.coordinateConverterWgsToGcj
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lastArrivedIndex
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lonLatHeading
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateGDRoutePoints
 import com.mogo.eagle.core.function.smp.V2XMarkerView
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.zhidaoauto.map.sdk.open.tools.ThreadPoolUtils
 import me.jessyan.autosize.utils.AutoSizeUtils
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.MogoV2X
-import java.util.concurrent.ExecutorService
 import java.util.concurrent.Executors
 import kotlin.math.pow

@@ -127,10 +121,16 @@ class OverMapView @JvmOverloads constructor(
    @Volatile
    private var isInit = false

+    @Volatile
+    private var isFirst = true
+
+    // 用来绘制轨迹线
    private val singlePool by lazy {
        Executors.newSingleThreadExecutor()
    }

+    private var allPoints: List<LatLng>? = null
+
    companion object {
        const val TAG = "OverMapView"
    }
@@ -334,8 +334,9 @@ class OverMapView @JvmOverloads constructor(
        mStartMarker?.isVisible = false
        mEndMarker?.isVisible = false
        MarkerDrawerManager.stopLoopCalCarLocation()
-        planningPoints.clear()
-        lastArrivedIndex = -1
+        ThreadUtils.getIoPool().execute {
+            MarkerDrawerManager.resetStatus()
+        }
        isInit = false
    }

@@ -355,10 +356,7 @@ class OverMapView @JvmOverloads constructor(
            resources.getDrawable(R.drawable.transparent_background, null)
                .toBitmap(AutoSizeUtils.dp2px(context, 32f), AutoSizeUtils.dp2px(context, 230f))
        )
-        CallerPlanningRottingListenerManager.addListener(TAG, this)
        initAMapView(context)
-        // 注册定位监听
-        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
        //设置全览模式
        overLayerView?.setOnClickListener { displayCustomOverView() }
        overLayerView?.let {
@@ -403,6 +401,9 @@ class OverMapView @JvmOverloads constructor(

    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
+        CallerPlanningRottingListenerManager.addListener(TAG, this)
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
        CallerFuncBizListenerManager.addListener(TAG, object : IFuncBizProvider {
            override fun onInfStructures(map: HashMap<String, ArrayList<Infrastructure>>?) {
                geoHashInfMap = map
@@ -470,37 +471,50 @@ class OverMapView @JvmOverloads constructor(
            Log.d(TAG, "全局路径规划轨迹为空")
            return
        }
+        Log.d(TAG, "全局路径规划轨迹下发")
+        isFirst = true
+        MarkerDrawerManager.resetStatus()
        val list: List<MessagePad.Location> = locationList
-        // 转成高德坐标系并存储
-        updateRoutePoints(list, mContext!!)
-        val planningPointList: List<LatLng> = planningPoints
-        UiThreadHandler.post ({
-            displayCustomOverView()
-            drawStartAndEndMarker(planningPointList)
-        }, UiThreadHandler.MODE.QUEUE)
-        if (!isInit) {
-            callback = object : MarkerDrawerManager.Callback {
-                override fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int) {
-                    // 每1s刷新一下轨迹线
-                    UiThreadHandler.post ({
-                        if (planningPoints.isNotEmpty()) {
-                            drawPolyline(planningPoints, locIndex)
+        // 转成高德定位对象并存储
+        val planningPointList = change2GDPoints(list, mContext!!)
+        updateGDRoutePoints(planningPointList)
+        synchronized(this::class.java) {
+            if (!isInit) {
+                var timeStamp = 0L
+                callback = object : MarkerDrawerManager.Callback {
+                    override fun onLocationChanged(points: List<LatLng>, locIndex: Int) {
+                        if (points.isNotEmpty()) {
+                            // 每1s刷新一下轨迹线
+                            singlePool.execute {
+                                if (isFirst) {
+                                    Log.d(TAG, "第一次!")
+                                    isFirst = false
+                                    allPoints = points
+                                    displayCustomOverView()
+                                    drawStartAndEndMarker(points)
+                                }
+                                timeStamp = System.currentTimeMillis()
+                                drawPolyline(points, locIndex)
+                                Log.d(TAG, "绘制轨迹线的时间为：${System.currentTimeMillis() - timeStamp}ms")
+                            }
                        }
-                    }, UiThreadHandler.MODE.QUEUE)
+                    }
                }
+                startLoopCalCarLocation()
+                isInit = true
            }
-            startLoopCalCarLocation()
-            isInit = true
        }
-        UiThreadHandler.post({
-            if (geoHashInfMap.isNullOrEmpty()) {
-                UiThreadHandler.postDelayed({
+        if (geoHashInfMap.isNullOrEmpty()) {
+            UiThreadHandler.postDelayed({
+                singlePool.execute {
                    drawInfrastructureMarkers(locationList)
-                }, 1000, UiThreadHandler.MODE.QUEUE)
-            } else {
+                }
+            }, 1000, UiThreadHandler.MODE.QUEUE)
+        } else {
+            singlePool.execute {
                drawInfrastructureMarkers(locationList)
            }
-        }, UiThreadHandler.MODE.QUEUE)
+        }
    }

    /**
@@ -662,33 +676,39 @@ class OverMapView @JvmOverloads constructor(
     * 进入自定义全览模式
     */
    fun displayCustomOverView() {
-        val linePointsLatLng = planningPoints
-        if (linePointsLatLng.size > 1 && mLocation != null) {
-            //圈定地图显示范围
-            //存放经纬度
-            val boundsBuilder = LatLngBounds.Builder()
-            for (i in linePointsLatLng.indices) {
-                boundsBuilder.include(linePointsLatLng[i])
+        singlePool.execute {
+            val linePointsLatLng = allPoints
+            if (linePointsLatLng != null && linePointsLatLng.size > 1 && mLocation != null) {
+                //圈定地图显示范围
+                //存放经纬度
+                val boundsBuilder = LatLngBounds.Builder()
+                for (i in linePointsLatLng.indices) {
+                    boundsBuilder.include(linePointsLatLng[i])
+                }
+                val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+                boundsBuilder.include(currentLatLng)
+                val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
+                //第二个参数为四周留空宽度
+                if (mAMap != null) {
+                    mAMap!!.moveCamera(
+                        CameraUpdateFactory.newLatLngBoundsRect(
+                            boundsBuilder.build(),
+                            AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
+                            AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
+                            AutoSizeUtils.dp2px(context, topPadding.toFloat()),
+                            AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+                        )
+                    )
+                    mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+                }
+            } else {
+                if (mCarMarker != null && mAMap != null) {
+                    //设置希望展示的地图缩放级别
+                    val cameraPosition = CameraPosition.Builder()
+                        .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
+                    mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+                }
            }
-            val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
-            boundsBuilder.include(currentLatLng)
-            val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
-            //第二个参数为四周留空宽度
-            mAMap!!.moveCamera(
-                CameraUpdateFactory.newLatLngBoundsRect(
-                    boundsBuilder.build(),
-                    AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, topPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
-                )
-            )
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
-        } else {
-            //设置希望展示的地图缩放级别
-            val cameraPosition = CameraPosition.Builder()
-                .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
        }
    }

@@ -699,14 +719,16 @@ class OverMapView @JvmOverloads constructor(
     */
    private fun drawCarMarker(location: MogoLocation?) {
        if (location == null) return
-        if (mCarMarker != null) {
-            val currentLatLng = LatLng(location.latitude, location.longitude)
-            mCarMarker!!.rotateAngle = (360 - location.heading).toFloat()
-            mCarMarker!!.position = currentLatLng
-            mCarMarker!!.setToTop()
-            if (mCompassMarker != null) {
-                mCompassMarker!!.rotateAngle = (360 - location.heading).toFloat()
-                mCompassMarker!!.position = currentLatLng
+        singlePool.execute {
+            if (mCarMarker != null) {
+                val currentLatLng = LatLng(location.latitude, location.longitude)
+                mCarMarker!!.rotateAngle = (360 - location.heading).toFloat()
+                mCarMarker!!.position = currentLatLng
+                mCarMarker!!.setToTop()
+                if (mCompassMarker != null) {
+                    mCompassMarker!!.rotateAngle = (360 - location.heading).toFloat()
+                    mCompassMarker!!.position = currentLatLng
+                }
            }
        }
    }
@@ -718,6 +740,7 @@ class OverMapView @JvmOverloads constructor(
        mStartMarker?.isVisible = false
        mEndMarker?.isVisible = false
        if (coordinates.size > 2) {
+            Log.d(TAG, "绘制起终点")
            // 设置开始结束Marker位置
            val startLatLng = coordinates[0]
            val endLatLng = coordinates[coordinates.size - 1]
@@ -725,6 +748,8 @@ class OverMapView @JvmOverloads constructor(
            mEndMarker?.position = endLatLng
            mStartMarker?.isVisible = true
            mEndMarker?.isVisible = true
+        } else {
+            Log.d(TAG, "不绘制起终点")
        }
    }

@@ -734,8 +759,7 @@ class OverMapView @JvmOverloads constructor(
     * @param coordinates
     * @param locIndex
     */
-    @MainThread
-    fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
+    private fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
        if (textureList.size > 0) {
            textureList.clear()
        }
@@ -759,6 +783,7 @@ class OverMapView @JvmOverloads constructor(
            texIndexList.add(i - 1)
        }
        if (mAMap != null && coordinates.size > 2) {
+//            Log.d(TAG, "绘制时轨迹点数为：${coordinates.size},纹理数为：${textureList.size},车辆index为：$locIndex")
            //设置线段纹理
            val polylineOptions = PolylineOptions()
            polylineOptions.addAll(coordinates)
@@ -819,60 +844,69 @@ class OverMapView @JvmOverloads constructor(
     * 站点轨迹集合被包含在地图显示范围内
     */
    fun includeSitePointsAndUpdateCamera(coordinates: List<LatLng>?) {
-        val linePointsLatLng = planningPoints
-        val boundsBuilder = LatLngBounds.Builder()
-        var isOnlyCarLocation = true
+        singlePool.execute {
+            val linePointsLatLng = allPoints
+            val boundsBuilder = LatLngBounds.Builder()
+            var isOnlyCarLocation = true

-        if (linePointsLatLng.size > 1) {
-            // 圈定地图显示范围(自动驾驶轨迹)
-            for (i in linePointsLatLng.indices) {
-                boundsBuilder.include(linePointsLatLng[i])
+            if (linePointsLatLng != null && linePointsLatLng.size > 1) {
+                // 圈定地图显示范围(自动驾驶轨迹)
+                for (i in linePointsLatLng.indices) {
+                    boundsBuilder.include(linePointsLatLng[i])
+                }
+                isOnlyCarLocation = false
            }
-            isOnlyCarLocation = false
-        }

-        if (mLocation != null) {
-            // 自车坐标
-            boundsBuilder.include(LatLng(mLocation!!.latitude, mLocation!!.longitude))
-        }
-
-        coordinates?.let {
-            // 站点轨迹被包含在地图显示范围内
-            for (i in it.indices) {
-                boundsBuilder.include(it[i])
+            if (mLocation != null) {
+                // 自车坐标
+                boundsBuilder.include(LatLng(mLocation!!.latitude, mLocation!!.longitude))
            }
-            isOnlyCarLocation = false
-        }

-        if (!isOnlyCarLocation) {
-            val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
-            //第二个参数为四周留空宽度
-            mAMap!!.moveCamera(
-                CameraUpdateFactory.newLatLngBoundsRect(
-                    boundsBuilder.build(),
-                    AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, topPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
-                )
-            )
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
-        } else {
-            //设置希望展示的地图缩放级别
-            val cameraPosition = CameraPosition.Builder()
-                .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+            coordinates?.let {
+                // 站点轨迹被包含在地图显示范围内
+                for (i in it.indices) {
+                    boundsBuilder.include(it[i])
+                }
+                isOnlyCarLocation = false
+            }
+
+            if (!isOnlyCarLocation) {
+                val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
+                //第二个参数为四周留空宽度
+                if (mAMap != null) {
+                    mAMap!!.moveCamera(
+                        CameraUpdateFactory.newLatLngBoundsRect(
+                            boundsBuilder.build(),
+                            AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
+                            AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
+                            AutoSizeUtils.dp2px(context, topPadding.toFloat()),
+                            AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+                        )
+                    )
+                    mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+                }
+            } else {
+                //设置希望展示的地图缩放级别
+                if (mCarMarker != null && mAMap != null) {
+                    val cameraPosition = CameraPosition.Builder()
+                        .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
+                    mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+                }
+            }
        }
    }

    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
        gnssInfo?.let {
-            mLocation = it
-            lonLatHeading = Triple(it.longitude, it.latitude, it.heading)
-            drawCarMarker(it)
-            if (isFirstLocation) {
-                displayCustomOverView()
-                isFirstLocation = false
+            // 在中国境内
+            if (CoordinateConverter.isAMapDataAvailable(it.latitude, it.longitude)) {
+                mLocation = it
+                lonLatHeading = Triple(it.longitude, it.latitude, it.heading)
+                drawCarMarker(it)
+                if (isFirstLocation) {
+                    displayCustomOverView()
+                    isFirstLocation = false
+                }
            }
        }

@@ -885,7 +919,7 @@ class OverMapView @JvmOverloads constructor(
     */
    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
        globalPathResp?.let {
-            singlePool.execute {
+            ThreadUtils.getIoPool().execute {
                handlePlanningData(it.wayPointsList)
            }
        }