diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt index 29b3a37abe..5866b48885 100644 --- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt +++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt @@ -776,7 +776,7 @@ class DebugSettingView @JvmOverloads constructor( SharedPrefsMgr.getInstance(context) .getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP) - etAutopilotIP.setText("172.30.10.10:41102") + etAutopilotIP.setText("192.168.1.102") etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) } //设置工控机IP btnSetAutopilotIP.setOnClickListener { diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java index ac995a7013..3f022fbf8b 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java @@ -13,6 +13,7 @@ import com.amap.api.maps.model.LatLng; import com.amap.api.maps.model.Marker; import com.amap.api.maps.model.MarkerOptions; import com.amap.api.maps.model.Polyline; +import com.amap.api.navi.AMapNaviView; import com.autonavi.amap.mapcore.IPoint; import com.mogo.eagle.core.function.map.R; @@ -49,7 +50,7 @@ public class CarOverlay { protected Marker carMarker; protected Marker directionMarker; protected AMap mAmap = null; - protected TextureMapView mapView; + protected AMapNaviView mapView; protected boolean isDirectionVisible = true; protected LatLng endLatLng = null; protected Polyline leaderLine = null; @@ -61,7 +62,7 @@ public class CarOverlay { private ScheduledExecutorService executorService; - public CarOverlay(Context context, TextureMapView mapView) { + public CarOverlay(Context context, AMapNaviView mapView) { this.mapView = mapView; fourCornersDescriptor = BitmapDescriptorFactory.fromBitmap(BitmapFactory diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java index 52e63d78fe..a64f44f612 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java +++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java @@ -61,6 +61,7 @@ import com.autonavi.tbt.TrafficFacilityInfo; import com.mogo.cloud.commons.utils.CoordinateUtils; import com.mogo.eagle.core.data.map.MogoLatLng; import com.mogo.eagle.core.data.map.MogoLocation; +import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener; import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener; import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger; import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager; @@ -70,18 +71,22 @@ import com.mogo.eagle.core.function.smp.view.ISmallMapDirectionView; import com.mogo.eagle.core.widget.RoundLayout; import com.mogo.module.common.utils.DrivingDirectionUtils; +import org.jetbrains.annotations.NotNull; + import java.util.ArrayList; import java.util.List; +import mogo.telematics.pad.MessagePad; + /** * 小地图的方向View - * + * 监听自动驾驶路径结束,结束高德地图导航 * @author donghongyu * @date 12/14/20 4:40 PM */ public class SmallMapDirectionView extends RelativeLayout - implements IMoGoMapLocationListener, ISmallMapDirectionView, AMapNaviListener, AMapNaviViewListener { + implements IMoGoMapLocationListener, ISmallMapDirectionView, AMapNaviListener, AMapNaviViewListener, IMoGoAutopilotPlanningListener { //小地图名称 public static final String TAG = "SmallMapDirectionView"; @@ -90,11 +95,16 @@ public class SmallMapDirectionView private AMapNaviView mAMapNaviView; protected AMapNavi mAMapNavi; private AMap mAMap; - private Marker mCarMarker; + // private Marker mCarMarker; // private Marker mStartMarker; // private Marker mEndMarker; - protected NaviLatLng mEndLatlng = new NaviLatLng(26.817455, 112.579649); - protected NaviLatLng mStartLatlng = new NaviLatLng(26.818968, 112.571216); + //328路线测试数据 + protected NaviLatLng mStartLatlng = new NaviLatLng(39.969111, 116.411903); + protected NaviLatLng mEndLatlng = new NaviLatLng(40.037209, 116.314358); + + //顺义国展测试数据 +// protected NaviLatLng mStartLatlng = new NaviLatLng(40.09383,116.51899); +// protected NaviLatLng mEndLatlng = new NaviLatLng(40.09964,116.54570); protected final List sList = new ArrayList(); protected final List eList = new ArrayList(); @@ -108,10 +118,6 @@ public class SmallMapDirectionView private Context mContext; private float tilt = 20f; private TextView overLayerView; - //自车位置,待定是否使用该类实现 - private CarOverlay carOverlay; - //路线Overlay - private RouteOverLay routeOverLay; public SmallMapDirectionView(Context context) { this(context, null); @@ -134,26 +140,36 @@ public class SmallMapDirectionView mContext = context; sList.add(mStartLatlng); eList.add(mEndLatlng); - //测试代码:路线指定路径 - mWayPointList.add(new NaviLatLng(26.81930638, 112.57276816)); - mWayPointList.add(new NaviLatLng(26.81930735, 112.57277308)); - mWayPointList.add(new NaviLatLng(26.81930829, 112.57277782)); - mWayPointList.add(new NaviLatLng(26.81930947, 112.57278384)); - mWayPointList.add(new NaviLatLng(26.81931044, 112.57278879)); - mWayPointList.add(new NaviLatLng(26.81931096, 112.57279149)); + //测试代码:路线指定路径328线路 + mWayPointList.add(new NaviLatLng(39.968847, 116.406952)); + mWayPointList.add(new NaviLatLng(39.969058, 116.407346)); + mWayPointList.add(new NaviLatLng(39.968955, 116.401767)); + mWayPointList.add(new NaviLatLng(39.968626, 116.394938)); + mWayPointList.add(new NaviLatLng(39.968433, 116.388725)); + mWayPointList.add(new NaviLatLng(39.968542, 116.383775)); + mWayPointList.add(new NaviLatLng(40.037808, 116.342539)); + mWayPointList.add(new NaviLatLng(40.037239, 116.337172)); + mWayPointList.add(new NaviLatLng(40.035897, 116.329582)); + mWayPointList.add(new NaviLatLng(40.036396, 116.322166)); + + //顺义国展路线 +// mWayPointList.add(new NaviLatLng(40.097621,116.526495)); +// mWayPointList.add(new NaviLatLng(40.097982,116.529135)); +// mWayPointList.add(new NaviLatLng(40.098434,116.531903)); +// mWayPointList.add(new NaviLatLng(40.098828,116.534563)); +// mWayPointList.add(new NaviLatLng(40.099377,116.538651)); +// mWayPointList.add(new NaviLatLng(40.099927,116.54173)); View smpView = LayoutInflater.from(context).inflate(R.layout.module_small_map_view, this); mAMapNaviView = smpView.findViewById(R.id.aMapNaviView); overLayerView = findViewById(R.id.overLayer); mAMapNavi = AMapNavi.getInstance(context); // mAMapNavi.setUseInnerVoice(true, true); - mAMapNavi.addAMapNaviListener(this); mAMapNaviView.setAMapNaviViewListener(this); // rlSmallMapBorder = findViewById(R.id.rlSmallMapBorder); // rlSmallMapBorder.addView(mAMapNaviView); initAMapView(context); - // 注册定位监听 CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this); //设置全览模式 @@ -174,26 +190,9 @@ public class SmallMapDirectionView */ private void initAMapView(Context context) { mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel); - mAMap = mAMapNaviView.getMap(); - // 地图文字标注 - mAMap.showMapText(true); - // 显示实时路况图层，aMap是地图控制器对象。 - mAMap.setTrafficEnabled(true); - // 设置 锚点 图标 -// mCarMarker = mAMap.addMarker(new MarkerOptions() -// .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo)) -// .anchor(0.5f, 0.5f)); -// mStartMarker = mAMap.addMarker(new MarkerOptions() -// .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start))); -// mEndMarker = mAMap.addMarker(new MarkerOptions() -// .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end))); - // 加载自定义样式 -// CustomMapStyleOptions customMapStyleOptions = new CustomMapStyleOptions() -// .setEnable(true) -// .setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext())) -// .setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext())); - AMapNaviViewOptions options = mAMapNaviView.getViewOptions(); + //关闭自动绘制路线,自行绘制路线 +// options.setAutoDrawRoute(false); //不显示导航界面 options.setLayoutVisible(false); //黑夜模式 @@ -202,29 +201,30 @@ public class SmallMapDirectionView options.setTrafficBarEnabled(false); //指南针 options.setCompassEnabled(false); - //关闭自动绘制路线,自行绘制路线 - options.setAutoDrawRoute(false); + //只做一次算路 +// options.setO + options.setTilt((int) tilt); //自车车标 options.setCarBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_my_location_logo)); options.setFourCornersBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_border_north)); options.setStartPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_dir_start)); -// options.setWayPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.navi_way)); + options.setWayPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.icon_module_small_map_four_corners)); options.setEndPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_dir_end)); + //与走过的路线 options.setAfterRouteAutoGray(true); - + //路线纹理自定义 RouteOverlayOptions routeOverlayOptions = new RouteOverlayOptions(); + routeOverlayOptions.setTurnArrowIs3D(false); routeOverlayOptions.setSmoothTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.module_small_map_view_dir_pass_route)); routeOverlayOptions.setPassRoute(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_slow));//走过的路段 - - //打开走过的路段自定义 - if (routeOverlayOptions != null) { - Log.d(TAG, "routeOverlayOptions != null"); - } options.setRouteOverlayOptions(routeOverlayOptions); mAMapNaviView.setViewOptions(options); - // 设置自定义样式 -// mAMap.setCustomMapStyle(customMapStyleOptions); + mAMap = mAMapNaviView.getMap(); + // 地图文字标注 + mAMap.showMapText(true); + // 显示实时路况图层，aMap是地图控制器对象。 + mAMap.setTrafficEnabled(true); //设置希望展示的地图缩放级别 mAMap.moveCamera(mCameraUpdate); //设置地图的样式 @@ -241,16 +241,6 @@ public class SmallMapDirectionView uiSettings.setMyLocationButtonEnabled(false); //设置Logo下边界距离屏幕底部的边距,设置为负值即可 uiSettings.setLogoBottomMargin(-150); -// mAMap.setOnMapLoadedListener(() -> { -// // 加载自定义样式 -// CustomMapStyleOptions customMapStyleOptions1 = new CustomMapStyleOptions() -// .setEnable(true) -// .setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext())) -// .setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext())); -// // 设置自定义样式 -// mAMap.setCustomMapStyle(customMapStyleOptions1); -// mAMapNaviView.getMap().setPointToCenter(mAMapNaviView.getWidth() / 2, mAMapNaviView.getHeight() / 2); -// }); int strategy = 0; try { //再次强调，最后一个参数为true时代表多路径，否则代表单路径 @@ -272,7 +262,7 @@ public class SmallMapDirectionView @Override public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) { - Log.d(TAG, "onLocationChanged location:" + location.toString()); +// Log.d(TAG, "onLocationChanged location:" + location.toString()); if (location == null) { return; } @@ -321,10 +311,11 @@ public class SmallMapDirectionView } // mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition)); - if (carOverlay != null) { - Log.d(TAG, "carOverlay != null"); - carOverlay.draw(mAMapNaviView.getMap(), new LatLng(mStartLatlng.getLatitude(), mStartLatlng.getLongitude()), location.getBearing()); - } +// if (carOverlay != null) { +// Log.d(TAG, "carOverlay != null"); +// LatLng latLng = new LatLng(location.getLatitude(), location.getLongitude()); +// carOverlay.draw(mAMapNaviView.getMap(), latLng, location.getBearing()); +// } } @@ -466,15 +457,6 @@ public class SmallMapDirectionView mAMapNavi.stopNavi(); mAMapNavi.destroy(); } - if (carOverlay != null) { - carOverlay.destroy(); - } - - if (routeOverLay != null) { - routeOverLay.removeFromMap(); - routeOverLay.destroy(); - } - if (mAMapNaviView != null) { mAMapNaviView.onDestroy(); } @@ -491,44 +473,6 @@ public class SmallMapDirectionView @Override public void onCalculateRouteSuccess(int[] ints) { Log.d(TAG, "onCalculateRouteSuccess int"); - AMapNaviPath naviPath = mAMapNavi.getNaviPath(); - if (naviPath != null) { - Log.d(TAG, "naviPath != null"); - if (routeOverLay == null) { - Log.d(TAG, "routeOverLay == null"); - // 初始化路线参数 -// routeOverLay = new RouteOverLay(mAMapNaviView.getMap(), naviPath, mContext); -// routeOverLay.setWayPointBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.icon_module_small_map_four_corners)); -// routeOverLay.setEndPointBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.module_small_map_view_dir_end)); -// routeOverLay.setStartPointBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.module_small_map_view_dir_start)); - - //自定义样式 -// RouteOverlayOptions routeOverlayOptions = new RouteOverlayOptions(); - //驶过路段擦除 -// routeOverlayOptions.setPassRoute(BitmapFactory.decodeResource(getResources(), R.drawable.module_small_map_view_dir_pass_route)); -// routeOverlayOptions.setSmoothTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_slow));//通畅路段 -// routeOverLay.setRouteOverlayOptions(routeOverlayOptions); - } -// if (routeOverLay != null) { -// Log.d(TAG, "routeOverLay != null"); -// routeOverLay.setAMapNaviPath(naviPath); -// routeOverLay.addToMap(); -// } - float bearing = NaviUtil.getRotate(mStartLatlng, naviPath.getCoordList().get(1)); -// if (mStartLatlng != null) { -// Log.d(TAG, "mStartLatlng != null"); -// carOverlay.reset(); -// /** -// * 绘制自车位置 -// */ -// carOverlay.draw(mAMapNaviView.getMap(), new LatLng(mStartLatlng.getLatitude(), mStartLatlng.getLongitude()), bearing); -// if (naviPath.getEndPoint() != null) { -// LatLng latlng = new LatLng(naviPath.getEndPoint().getLatitude(), naviPath.getEndPoint().getLongitude()); -// carOverlay.setEndPoi(latlng); -// } -// } -// mAMapNavi.startNavi(NaviType.EMULATOR); - } } @@ -556,7 +500,8 @@ public class SmallMapDirectionView @Override public void onLocationChange(AMapNaviLocation aMapNaviLocation) { - Log.d(TAG, "高德地图:onLocationChange"); + Log.d(TAG, "高德地图经纬度:" + aMapNaviLocation.getCoord().getLongitude() + "," + aMapNaviLocation.getCoord().getLatitude()); + } @Override @@ -704,7 +649,7 @@ public class SmallMapDirectionView @Override public void onCalculateRouteSuccess(AMapCalcRouteResult aMapCalcRouteResult) { Log.d(TAG, "onCalculateRouteSuccess aMapCalcRouteResult" + aMapCalcRouteResult.toString()); - mAMapNavi.startNavi(NaviType.EMULATOR); + mAMapNavi.startNavi(NaviType.GPS); } @Override @@ -771,4 +716,17 @@ public class SmallMapDirectionView public void onNaviViewShowMode(int i) { } + + @Override + public void onAutopilotTrajectory(@NotNull List trajectoryInfos) { + + } + + //自动驾驶状态开启之后返回,真实路径需要确认返回时间 + //数据返回之后触发路算 + @Override + public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) { + List list = globalPathResp.getWayPointsList(); + Log.d(TAG, "adas返回全路径:" + list.toString()); + } }