高德导航路径规划,路算能力配合自动驾驶状态,模拟数据添加验证,GPS类型下实现路径擦除能力

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

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<NaviLatLng> sList = new ArrayList<NaviLatLng>();
     protected final List<NaviLatLng> eList = new ArrayList<NaviLatLng>();
 
@@ -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<MessagePad.TrajectoryPoint> 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());
+    }
 }