[V2X][Road]优化道路标记颜色逻辑

[V2X][Road]优化道路标记颜色逻辑2
2022-09-28 17:22:03 +08:00
parent 86ea6c9d3d
commit 1d0f1422d5
17 changed files with 829 additions and 47878 deletions
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
@@ -106,14 +106,14 @@ public class BusPassengerMapDirectionView
        initAMapView();

        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
    }

    private void initAMapView() {
@@ -182,7 +182,7 @@ public class BusPassengerMapDirectionView


    @Override
-    public void onLocationChanged(@Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (location == null) {
            return;
        }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java
@@ -104,14 +104,14 @@ public class TaxiPassengerMapDirectionView
        initAMapView();

        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
    }

    private void initAMapView() {
@@ -180,7 +180,7 @@ public class TaxiPassengerMapDirectionView


    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (location == null){
            return;
        }
--- a/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
+++ b/app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt
@@ -61,54 +61,54 @@ class RoadAITest {
                                    .setRoadId("200091")
                                    .setLaneNo("-2")
                                    .setTileId("556834853")
-                                    .setBearing(156)
+                                    .setBearing(90)
                                    .build())
                                .setPoint(GPSPoint_PB
                                    .newBuilder()
-                                    .setLat(26.819533419884188)
-                                    .setLon(112.57506466334905)
+                                    .setLat(40.20313763799314)
+                                    .setLon(116.72844402744953)
                                    .build())
                                .build())
                        .addPolygon(0, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.819544927961125)
-                            .setLon(112.57503948748804)
+                            .setLat(40.20314863899314)
+                            .setLon(116.72844412744953)
                            .build())
                        .addPolygon(1, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.81953162903423)
-                            .setLon(112.57503758421541)
+                            .setLat(40.20314563819314)
+                            .setLon(116.72844412744953)
                            .build())
                        .addPolygon(2, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.81952255026517)
-                            .setLon(112.5750496963295)
+                            .setLat(40.20312263869314)
+                            .setLon(116.72844401744953)
                            .build())
                        .addPolygon(3, GPSPoint_PB
                            .newBuilder()
-                            .setLat(26.819517691652617)
-                            .setLon(112.57507582382465)
-                            .build())
-                        .addPolygon(4, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.819521911807858)
-                            .setLon(112.57508983920647)
-                            .build())
-                        .addPolygon(5, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.819535210732194)
-                            .setLon(112.57509174248064)
-                            .build())
-                        .addPolygon(6, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.81954428950259)
-                            .setLon(112.5750796303722)
-                            .build())
-                        .addPolygon(7, GPSPoint_PB
-                            .newBuilder()
-                            .setLat(26.819549148117684)
-                            .setLon(112.57505350287552)
+                            .setLat(40.20322763889314)
+                            .setLon(116.7284381644953)
                            .build())
+//                        .addPolygon(4, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.819521911807858)
+//                            .setLon(112.57508983920647)
+//                            .build())
+//                        .addPolygon(5, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.819535210732194)
+//                            .setLon(112.57509174248064)
+//                            .build())
+//                        .addPolygon(6, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.81954428950259)
+//                            .setLon(112.5750796303722)
+//                            .build())
+//                        .addPolygon(7, GPSPoint_PB
+//                            .newBuilder()
+//                            .setLat(26.819549148117684)
+//                            .setLon(112.57505350287552)
+//                            .build())
                        .addRoad(0, Road_PB
                            .newBuilder()
                            .setRoadId("200090")
--- 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
@@ -11,7 +11,6 @@ import android.text.Html
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
-import android.widget.*
 import androidx.annotation.RequiresApi
 import androidx.appcompat.widget.PopupMenu
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -61,7 +60,6 @@ import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.logcatch.ILogViewListener
 import com.mogo.eagle.core.function.hmi.ui.logcatch.LogInfoView
 import com.mogo.eagle.core.function.hmi.ui.upgrade.UpgradeListAdapter
-import com.mogo.eagle.core.network.*
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
@@ -186,7 +184,7 @@ class DebugSettingView @JvmOverloads constructor(
        // 添加 ADAS车辆状态&定位 监听
        CallerAutopilotCarStatusListenerManager.addListener(TAG, this)
        // 添加 地图样式改变 监听
-        CallerMapLocationListenerManager.addListener(TAG, this)
+        CallerMapLocationListenerManager.addListener(TAG, this, false)
        // 添加 域控制器感知数据 监听
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
        // 添加 规划路径相关回调 监听
@@ -221,7 +219,7 @@ class DebugSettingView @JvmOverloads constructor(
        // 移除 ADAS车辆状态&定位 监听
        CallerAutopilotCarStatusListenerManager.removeListener(TAG)
        // 移除 地图样式改变 监听
-        CallerMapLocationListenerManager.removeListener(TAG)
+        CallerMapLocationListenerManager.removeListener(TAG, false)
        // 移除 域控制器感知数据 监听
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
        // 移除 规划路径相关回调 监听
@@ -2014,7 +2012,7 @@ class DebugSettingView @JvmOverloads constructor(
        }
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int) {
+    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
    }

    /**
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/collect/MoGoMapDataCollectProvider.kt
@@ -6,7 +6,6 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -46,7 +45,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
    private var hasInit = false

    override fun init(context: Context?) {
-        CallerMapLocationListenerManager.addListener(functionName, this)
+        CallerMapLocationListenerManager.addListener(functionName, this, false)
        executor.set(context?.let {
            GatherApi.also { itx ->
            itx.init(it,
@@ -65,7 +64,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
    }

    override fun onDestroy() {
-        CallerMapLocationListenerManager.removeListener("$M_MAP$TAG")
+        CallerMapLocationListenerManager.removeListener("$M_MAP$TAG", false)
        CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
        executor.get()?.setOnTaskListener(null)
        listeners.clear()
@@ -148,7 +147,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        }
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int) {
+    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
        location ?: return
        executor.get()?.updateLocation(
                location.longitude,
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
@@ -130,7 +130,7 @@ public class AMapCustomView
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
        initAMapView(context);
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
        //设置全览模式
        overLayerView.setOnClickListener(v -> {
            displayCustomOverView();
@@ -258,7 +258,7 @@ public class AMapCustomView
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
    }

@@ -269,7 +269,7 @@ public class AMapCustomView


    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        mLocation = location;
        MarkerDrawerManager.INSTANCE.setLonLat(new Pair(location.getLongitude(), location.getLatitude()));
        drawCarMarker(location);
--- 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
@@ -99,14 +99,14 @@ public class SmallMapDirectionView
        initAMapView();

        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
+        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
    }

    private void initAMapView() {
@@ -162,7 +162,7 @@ public class SmallMapDirectionView


    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (location == null) {
            return;
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -14,7 +14,6 @@ import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.network.ParamsUtil
-import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD_SHOW
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
@@ -140,7 +139,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun registerListener() {
        V2XManager.addCallback(this)
-        CallerMapLocationListenerManager.addListener(TAG, this)
+        CallerMapLocationListenerManager.addListener(TAG, this, false)
        BridgeApi.registerCenter()?.let {
            it.registerMogoMapListener(MODULE_NAME, this)
            it.registerMogoMarkerClickListener(
@@ -160,7 +159,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun unRegisterListener() {
        V2XManager.removeCallback(this)
-        CallerMapLocationListenerManager.removeListener(TAG)
+        CallerMapLocationListenerManager.removeListener(TAG, false)
        BridgeApi.registerCenter()?.let {
            it.unregisterMogoMapListener(MODULE_NAME)
            it.unregisterMogoMarkerClickListener(ModuleNames.CARD_TYPE_ROAD_CONDITION)
@@ -331,7 +330,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
        })
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int) {
+    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
        location ?: return
        BridgeApi.location.set(location)
        if (V2XManager.hasInit()) {
@@ -485,7 +484,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                        val p = CoordinateUtils.transformWgsToGcj(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0)
                        l4.lon = p[0]
                        l4.lat = p[1]
-                        AiRoadMarker.enqueue(Marker(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.map { d ->
+                        AiRoadMarker.enqueue(Marker(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0,  this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.map { d ->
                            android.util.Pair(d.lon, d.lat)
                        }))
                        l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -10,7 +10,6 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
 import com.mogo.eagle.core.function.api.map.listener.*
-import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
 import com.mogo.eagle.core.utilcode.kotlin.*
@@ -40,19 +39,19 @@ object AiRoadMarker {

    private val overlayManager by lazy { MogoOverlayManager.getInstance() }

-    private val redLine by lazy { AtomicReference<IMogoPolyline>() }
+    private val line by lazy { AtomicReference<IMogoPolyline>() }

-    private val redLineColors = arrayListOf(Color.parseColor("#002ABAD9"), Color.parseColor("#FF7A30"))
+    private val colors = arrayListOf(Color.parseColor("#002ABAD9"), Color.parseColor("#FF7A30"))

-    private val markerCache = ConcurrentSet<Marker>()
+    private val markers = ConcurrentSet<Marker>()

-    private val redLineOptions by lazy {
+    private val options by lazy {
        MogoPolylineOptions().apply {
            zIndex(40000f)
            setGps(true)
-            width(30f)
+            width(50f)
            useGradient(true)
-            colorValues(redLineColors)
+            colorValues(colors)
        }
    }

@@ -70,21 +69,30 @@ object AiRoadMarker {

        pool.execute {
            var interrupted = false
-            Log.d(TAG, "--- consumer --- 0 ---")
+            Logger.d(TAG, "--- consumer --- 0 ---")
            while (!interrupted) {
                try {
-                    Log.d(TAG, "--- consumer --- 1 ---")
+                    Logger.d(TAG, "--- consumer --- 1 ---")
                    val top = queue.take() ?: continue
-                    Log.d(TAG, "--- consumer --- 2 ---")
-                    val location = carLocation.get() ?: continue
-                    val isFrontOfCar = isFrontOfCar(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
-                    val isSameRoad = isSameRoad(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
-                    Log.d(TAG, "--- consumer --- 3 ---isFrontOfCar: $isFrontOfCar, isSameRoad: $isSameRoad")
-                    if (isFrontOfCar && isSameRoad) {
+                    Logger.d(TAG, "--- consumer --- 2 ---")
+                    val location = carLocation.get()
+                    if (location == null) {
+                        if (queue.isEmpty()) {
+                            synchronized(markers) {
+                                markers.clear()
+                            }
+                        }
+                        continue
+                    }
+                    val isTrigger = isTriggerEvent(top.poi_lon, top.poi_lat, location.first, location.second, location.third)
+                    Logger.d(TAG, "--- consumer --- 3 ---: isTrigger => $isTrigger")
+                    if (isTrigger) {
                        marker.set(top)
                        marker(top)
                    } else {
-                        markerCache.remove(top)
+                        synchronized(markers) {
+                            markers.remove(top)
+                        }
                    }
                    interrupted = Thread.currentThread().isInterrupted
                } catch (e: InterruptedException) {
@@ -95,11 +103,12 @@ object AiRoadMarker {
        }
    }

-    private fun isSameRoad(x1: Double, y1: Double, x2: Double, y2: Double, angle: Double): Boolean {
-        val c1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(x1, y1, angle.toFloat(), 500f)
-        val c2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(x2, y2, angle.toFloat(), 500f)
-        Log.d(TAG, "isSameRoad--: [$x1, $y1, ${c1.road_id}] ==> [$x2, $y2, ${c2.road_id}]")
-        return c1 != null && c2 != null && c1.road_id.isNotEmpty() && c1.road_id == c2.road_id
+    private fun isTriggerEvent(x1: Double, y1: Double, x2: Double, y2: Double, a2: Double): Boolean {
+        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(x2, y2, x1, y1, a2)
+        if (angle <= 60 && DrivingDirectionUtils.distance(x1, y1, x2, y2) <= 300) {
+            return true
+        }
+        return false
    }

    private val onRoadListener = object : OnRoadListener {
@@ -107,7 +116,7 @@ object AiRoadMarker {
        private var hasCrossRoad = false

        override fun onRoadIdInfo(roadId: String) {
-            Log.d(TAG, "--- onRoadInfo --- roadId: $roadId")
+            Logger.d(TAG, "--- onRoadInfo --- roadId: $roadId")
            val oldRoadId = this.roadId
            if (oldRoadId != roadId) {
                if (hasCrossRoad) {
@@ -117,7 +126,7 @@ object AiRoadMarker {
            this.roadId = roadId
        }
        override fun onStopLineInfo(info: StopLine) {
-            Log.d(TAG, "--- onStopLineInfo --- info: $info")
+            Logger.d(TAG, "--- onStopLineInfo --- info: $info")
            if (!hasCrossRoad) {
                hasCrossRoad = true
            }
@@ -127,17 +136,17 @@ object AiRoadMarker {
    private val onLocationListener = object : IMoGoMapLocationListener {


-        override fun onLocationChanged(location: MogoLocation?, from: Int) {
-            if (location == null) {
+        override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
+            if (location == null || !isGps) {
                return
            }
            try {
-                val loc = arrayOf(CallerAutoPilotStatusListenerManager.getCurWgs84Lon(), CallerAutoPilotStatusListenerManager.getCurWgs84Lat())
+                val loc = arrayOf(location.longitude, location.latitude)
                carLocation.set(Triple(loc[0], loc[1], location.bearing.toDouble()))
                val marker = marker.get() ?: return
                val isOutOfRange = isOutOfRange(marker.poi_lon, marker.poi_lat, carLocation.get().first, carLocation.get().second, carLocation.get().third)
                if (isOutOfRange) {
-                    Log.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
+                    Logger.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
                    unMarker(marker)
                }
            } catch (t: Throwable) {
@@ -148,42 +157,48 @@ object AiRoadMarker {

    private fun onCreate() {
        CallerMapRoadListenerManager.registerRoadListener(TAG, onRoadListener)
-        CallerMapLocationListenerManager.addListener(TAG, onLocationListener)
+        CallerMapLocationListenerManager.addListener(TAG, onLocationListener, true)
    }

    private fun onDestroy() {
        CallerMapRoadListenerManager.unRegisterRoadListener(TAG)
-        CallerMapLocationListenerManager.removeListener(TAG)
+        CallerMapLocationListenerManager.removeListener(TAG, true)
        pool.shutdownNow()
-        removeRedLine()
+        removeLine()
    }


    fun enqueue(marker: Marker) {
-        Log.d(TAG, "--- enqueue --- 1 ---")
-        if (markerCache.contains(marker)) {
-            Log.d(TAG, "--- enqueue --- cache hit ---")
+        Logger.d(TAG, "--- enqueue --- 1 ---")
+        if (markers.contains(marker)) {
+            Logger.d(TAG, "--- enqueue --- cache hit ---")
            return
        }
-        Log.d(TAG, "--- enqueue --- 2 ---")
-        markerCache += marker
+        Logger.d(TAG, "--- enqueue --- 2 ---")
+        synchronized(markers) {
+            markers += marker
+        }
        pool.execute {
-            Log.d(TAG, "--- enqueue --- 3 ---${Thread.currentThread().name}::${Thread.currentThread().id}")
+            Logger.d(TAG, "--- enqueue --- 3 ---${Thread.currentThread().name}::${Thread.currentThread().id}")
            queue.put(marker)
        }
    }

    private fun marker(marker: Marker) {
-        Log.d(TAG, "--- marker --- 1 ---")
        val location = carLocation.get() ?: return
-        Log.d(TAG, "--- marker --- 2 ---")
-        removeRedLine()
        //施工中心点前方的自车行驶方向上300米距离
        val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
        //施工中心点后方的自车行驶方向上300米距离
-        Log.d(TAG, "--- marker --- 3 --- l1: $l1")
+        Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
        val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), -300f)
-        Log.d(TAG, "--- marker --- 4 --- l2: $l2")
+        if (l1.points.isEmpty() || l2.points.isEmpty()) {
+            Logger.d(TAG, "--- marker --- 3 --- return ----")
+            synchronized(markers) {
+                markers.remove(marker)
+            }
+            return
+        }
+        Logger.d(TAG, "--- marker --- 4 --- l2: $l2")
        val points = LinkedList<MogoLatLng>()
        if (l2 != null && l2.points.isNotEmpty()) {
            points.addAll(l2.points.reversed().map {
@@ -192,7 +207,7 @@ object AiRoadMarker {
        }
        val centerX= marker.poi_lon
        val centerY = marker.poi_lat
-        Log.d(TAG, "--- marker --- 5 --- marker: $marker")
+        Logger.d(TAG, "--- marker --- 5 --- marker: $marker")
        val farthestPoint = marker.polygon?.let {
            var find: Pair<Double, Double> = Pair(centerX, centerY)
            var min = Long.MAX_VALUE
@@ -203,46 +218,53 @@ object AiRoadMarker {
                    find = p
                }
             }
-             MogoLatLng(find.second, find.second)
+             MogoLatLng(find.second, find.first)
        } ?: MogoLatLng(centerY, centerX)
        marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
-        Log.d(TAG, "--- marker --- 6 --- marker: $marker")
+        Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
        if (l1 != null && l1.points.isNotEmpty()) {
            for (l in l1.points) {
-                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third) < 90L) {
+                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, location.third + 180) < 90L) {
                    points.add(l.let { MogoLatLng(it.second, it.first) })
                }
            }
        }
-        var line = redLine.get()
-        redLineOptions.points(points)
-        Log.d(TAG, "--- marker --- 7 --- points: ${points.size}")
+        if (points.size <= 1) {
+            synchronized(markers) {
+                markers.remove(marker)
+            }
+            return
+        }
+        removeLine()
+        var line = line.get()
+        options.points(points)
+        Logger.d(TAG, "--- marker --- 7 --- points: ${points.size}")
        if (line == null || line.isDestroyed) {
-            val l = overlayManager.addPolyline(redLineOptions)
-            this.redLine.set(l)
+            val l = overlayManager.addPolyline(options)
+            this.line.set(l)
            line = l
        } else {
-            line.setOption(redLineOptions)
+            line.setOption(options)
        }
        if (!line.isVisible) {
            line.isVisible = true
        }
    }

-    private fun removeRedLine() {
-        val old = redLine.get()
-        Log.d(TAG, "--- removeRedLine --- 1 ---")
+    private fun removeLine() {
+        val old = line.get()
+        Logger.d(TAG, "--- removeRedLine --- 1 ---")
        if (old != null) {
-            Log.d(TAG, "--- removeRedLine --- 2 ---")
-            redLine.set(null)
+            Logger.d(TAG, "--- removeRedLine --- 2 ---")
+            line.set(null)
            old.isVisible = false
            old.remove()
        }
    }

    private fun unMarker(marker: Marker) {
-        markerCache -= marker
-        removeRedLine()
+        markers -= marker
+        removeLine()
    }

    private fun isOutOfRange(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
@@ -257,6 +279,7 @@ object AiRoadMarker {
    data class Marker(
        val poi_lat: Double,
        val poi_lon: Double,
+        val poi_angle: Double,
        val polygon: List<Pair<Double, Double>>?,
        var farthestPoint: Pair<Double, Double>? = null
    ) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -106,7 +106,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoMapL
    }

    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        sV2XWarningMarker.onCarLocationChanged2(location);
    }

--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/listener/IMoGoMapLocationListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/listener/IMoGoMapLocationListener.kt
@@ -13,5 +13,5 @@ interface IMoGoMapLocationListener {
     *
     * @param location 新定位点
     */
-    fun onLocationChanged(location: MogoLocation?, from: Int)
+    fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.autopilot

+import android.util.*
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -65,14 +66,18 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
     * 获取当前时刻WGS84 lat
     */
    fun getCurWgs84Lat(): Double {
-        return mAutopilotStatusInfo.locationLat
+        val locationLat = mAutopilotStatusInfo.locationLat
+        Log.d("GO", "wgs84_lat:" + locationLat)
+        return locationLat
    }

    /**
     * 获取当前时刻WGS84 lon
     */
    fun getCurWgs84Lon(): Double {
-        return mAutopilotStatusInfo.locationLon
+        val locationLon = mAutopilotStatusInfo.locationLon
+        Log.d("GO", "wgs84_lon:" + locationLon)
+        return locationLon
    }

    /**
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapLocationListenerManager.kt
@@ -16,10 +16,19 @@ object CallerMapLocationListenerManager : CallerBase() {
    // 记录地图最后一次位置
    private var mLocation: MogoLocation? = null

+    /**
+     * 记录最后一次高精坐标的位置
+     */
+    private var mGpsLocation: MogoLocation? = null
+
    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
    private val mMapStyleChangeListeners: ConcurrentHashMap<String, IMoGoMapLocationListener> =
        ConcurrentHashMap()

+
+    // 高精坐标回调
+    private val mGpsChangedListeners: ConcurrentHashMap<String, IMoGoMapLocationListener> = ConcurrentHashMap()
+
    /**
     * 获取当前经纬度
     */
@@ -27,44 +36,76 @@ object CallerMapLocationListenerManager : CallerBase() {
        return mLocation
    }

+    /**
+     * 获取当前高精坐标
+     */
+    fun getCurrentGpsLocation(): MogoLocation? {
+        return mGpsLocation
+    }
+
    /**
     * 添加 地图样式改变 监听
     * @param tag 标记，用来注销监听使用
     * @param listener 监听回调
     */
-    fun addListener(
-        @Nullable tag: String,
-        @Nullable listener: IMoGoMapLocationListener
-    ) {
-        if (mMapStyleChangeListeners.containsKey(tag)) {
-            return
+    fun addListener(@Nullable tag: String, @Nullable listener: IMoGoMapLocationListener, isGps: Boolean) {
+        if (!isGps) {
+            if (mMapStyleChangeListeners.containsKey(tag)) {
+                return
+            }
+            mMapStyleChangeListeners[tag] = listener
+            listener.onLocationChanged(mLocation, 0, isGps)
+        } else {
+            if (mGpsChangedListeners.containsKey(tag)) {
+                return
+            }
+            mGpsChangedListeners[tag] = listener
+            listener.onLocationChanged(mGpsLocation, 0, isGps)
        }
-        mMapStyleChangeListeners[tag] = listener
-        listener.onLocationChanged(mLocation, 0)
+
    }

    /**
     * 删除 地图样式改变 监听
     * @param tag 标记，用来注销监听使用
     */
-    fun removeListener(@Nullable tag: String) {
-        if (!mMapStyleChangeListeners.containsKey(tag)) {
-            return
+    fun removeListener(@Nullable tag: String, isGps: Boolean) {
+        if (!isGps) {
+            if (!mMapStyleChangeListeners.containsKey(tag)) {
+                return
+            }
+            mMapStyleChangeListeners.remove(tag)
+        } else {
+            if (!mGpsChangedListeners.containsKey(tag)) {
+                return
+            }
+            mGpsChangedListeners.remove(tag)
        }
-        mMapStyleChangeListeners.remove(tag)
+
    }

    /**
     * 删除 地图样式改变 监听
     * @param listener 要删除的监听对象
     */
-    fun removeListener(@Nullable listener: IMoGoMapLocationListener) {
-        if (!mMapStyleChangeListeners.containsValue(listener)) {
-            return
-        }
-        mMapStyleChangeListeners.forEach {
-            if (it.value == listener) {
-                mMapStyleChangeListeners.remove(it.key)
+    fun removeListener(@Nullable listener: IMoGoMapLocationListener, isGps: Boolean) {
+        if (!isGps) {
+            if (!mMapStyleChangeListeners.containsValue(listener)) {
+                return
+            }
+            mMapStyleChangeListeners.forEach {
+                if (it.value == listener) {
+                    mMapStyleChangeListeners.remove(it.key)
+                }
+            }
+        } else {
+            if (!mGpsChangedListeners.containsValue(listener)) {
+                return
+            }
+            mGpsChangedListeners.forEach {
+                if (it.value == listener) {
+                    mGpsChangedListeners.remove(it.key)
+                }
            }
        }
    }
@@ -73,20 +114,25 @@ object CallerMapLocationListenerManager : CallerBase() {
     * 触发 地图样式改变 监听
     */
    fun invokeMapLocationChangeListener() {
-        invokeMapLocationChangeListener(mLocation, 0)
+        invokeMapLocationChangeListener(mLocation, 0, false)
    }

    /**
     * 触发 地图样式改变 监听
     * @param location 选中状态
     */
-    fun invokeMapLocationChangeListener(location: MogoLocation?, from: Int) {
-        mLocation = location
-        mMapStyleChangeListeners.forEach {
-            val tag = it.key
-            val listener = it.value
-            listener.onLocationChanged(location, from)
+    fun invokeMapLocationChangeListener(location: MogoLocation?, from: Int, isGps: Boolean) {
+        if (!isGps) {
+            mLocation = location
+            mMapStyleChangeListeners.forEach {
+                val listener = it.value
+                listener.onLocationChanged(location, from, isGps)
+            }
+        } else {
+            mGpsLocation = location
+            mGpsChangedListeners.forEach {
+                it.value.onLocationChanged(location, from, isGps)
+            }
        }
    }
-
 }
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -72,6 +72,7 @@ import com.zhidaoauto.map.sdk.open.camera.CameraPosition;
 import com.zhidaoauto.map.sdk.open.camera.CameraUpdateFactory;
 import com.zhidaoauto.map.sdk.open.camera.LatLngBounds;
 import com.zhidaoauto.map.sdk.open.data.MapDataApi;
+import com.zhidaoauto.map.sdk.open.location.LocationClient;
 import com.zhidaoauto.map.sdk.open.location.LocationListener;
 import com.zhidaoauto.map.sdk.open.location.MyLocationStyle;
 import com.zhidaoauto.map.sdk.open.location.RTKAutopilotLocationBean;
@@ -125,6 +126,8 @@ public class AMapViewWrapper implements IMogoMapView,
    private boolean mIsFirstLocated = true;
    private boolean mIsDelayed = false;

+    private final LocationListener mGpsLocationListener = location -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(ObjectUtils.fromLocation(location), 0, true);
+
    public AMapViewWrapper(MapAutoView mMapView) {
        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--AMapViewWrapper: init");
        this.mMapView = mMapView;
@@ -186,7 +189,11 @@ public class AMapViewWrapper implements IMogoMapView,
        mMapView.setOnMapLoadedListener(this);
        mMapView.setOnMapTouchListener(this);
        mMapView.setOnMapClickListener(this);
-        mMapView.getLocationClient().registerListener(this);
+        LocationClient client = mMapView.getLocationClient();
+        if (client != null) {
+            client.registerListener(this);
+            client.registerGpsListener(mGpsLocationListener);
+        }
        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ZOOM);
        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_ROTATE);
        mMapView.registerListener(this, MapAutoApi.LISTENER_TYPE_3D);
@@ -720,7 +727,7 @@ public class AMapViewWrapper implements IMogoMapView,
        @Override
        public void run() {
            if (location != null) {
-                CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(location, 1);
+                CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(location, 1, false);
                location = null;
            }
        }
@@ -734,7 +741,7 @@ public class AMapViewWrapper implements IMogoMapView,
    public void onLocationChanged(@NotNull com.zhidaoauto.map.sdk.open.location.MogoLocation location) {
        MogoLocation currentLocation = ObjectUtils.fromLocation(location);
        if (Looper.myLooper() == Looper.getMainLooper()) {
-            CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(currentLocation, 1);
+            CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(currentLocation, 1, false);
        } else {
            if (mLocationTask == null) {
                mLocationTask = new LocationTask();
--- a/libraries/mogo-map/src/main/java/com/mogo/map/location/ALocationClient.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/location/ALocationClient.java
@@ -116,7 +116,7 @@ public class ALocationClient implements IMogoLocationClient {
            }
            Trace.beginSection( "timer.onLocationChanged" );
            mLastLocation = ObjectUtils.fromLocation( location );
-            UiThreadHandler.post(() -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(mLastLocation, 0));
+            UiThreadHandler.post(() -> CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(mLastLocation, 0, false));

            Set< IMogoLocationListener > listeners = MogoLocationListenerRegister.getInstance().getListeners();
            synchronized ( listeners ) {
--- a/modules/mogo-module-service/src/main/assets/loc.txt
+++ b/modules/mogo-module-service/src/main/assets/loc.txt
--- 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
@@ -45,7 +45,7 @@ public class MogoRouteOverlayManager implements
    public void init() {
        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
+        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
    }

    public static MogoRouteOverlayManager getInstance() {
@@ -68,7 +68,7 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onLocationChanged(@Nullable MogoLocation location, int from) {
+    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
        if (from != 1 || location == null) {
            return;
        }