[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/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);
    }