@@ -1,12 +1,7 @@
package com.mogo.eagle.core.function.smp ;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP ;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X ;
import static com.mogo.module.common.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA ;
import android.content.Context ;
import android.graphics.BitmapFactory ;
import android.graphics.Color ;
import android.location.Location ;
import android.os.Bundle ;
import android.util.AttributeSet ;
@@ -18,18 +13,14 @@ import android.widget.RelativeLayout;
import android.widget.TextView ;
import androidx.annotation.Nullable ;
import androidx.annotation.UiThread ;
import com.amap.api.maps.AMap ;
import com.amap.api.maps.CameraUpdate ;
import com.amap.api.maps.CameraUpdateFactory ;
import com.amap.api.maps.CoordinateConverter ;
import com.amap.api.maps.UiSettings ;
import com.amap.api.maps.model.CameraPosition ;
import com.amap.api.maps.model.LatLng ;
import com.amap.api.maps.model.LatLngBounds ;
import com.amap.api.maps.model.Polyline ;
import com.amap.api.maps.model.PolylineOptions ;
import com.amap.api.navi.AMapNavi ;
import com.amap.api.navi.AMapNaviListener ;
import com.amap.api.navi.AMapNaviView ;
@@ -52,23 +43,21 @@ import com.amap.api.navi.model.NaviInfo;
import com.amap.api.navi.model.NaviLatLng ;
import com.amap.api.navi.model.RouteOverlayOptions ;
import com.autonavi.tbt.TrafficFacilityInfo ;
import com.mogo.cloud.commons.utils.CoordinateUtils ;
import com.mogo.commons.AbsMogoApplication ;
import com.mogo.eagle.core.data.config.FunctionBuildConfig ;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo ;
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.autopilot.IMoGoAutopilotStatusListener ;
import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener ;
import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils ;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLog ger ;
import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager ;
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerMana ger ;
import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager ;
import com.mogo.eagle.core.function.map.R ;
import com.mogo.eagle.core.function.smp.view.ISmallMapDirectionView ;
import com.mogo.eagle.core.utilcode.util.UiThreadHandl er ;
import com.mogo.eagle.core.widget.RoundLayout ;
import com.mogo.map.MogoMarkerManager ;
import com.mogo.map.marker.IMogoMarkerManager ;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogg er ;
import com.mogo.eagle.core.utilcode.util.ThreadUtils ;
import com.mogo.module.common.utils.DrivingDirectionUtils ;
import com.zhidao.support.adas.high.AdasManager ;
import org.jetbrains.annotations.NotNull ;
@@ -76,6 +65,9 @@ import java.util.ArrayList;
import java.util.List ;
import mogo.telematics.pad.MessagePad ;
import mogo_msg.MogoReportMsg ;
import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P ;
/**
* 小地图的方向View
@@ -86,14 +78,16 @@ import mogo.telematics.pad.MessagePad;
*/
public class AMapCustomView
extends RelativeLayout
implements IMoGoMapLocationListener , ISmallMapDirectionView , AMapNaviListener , AMapNaviViewListener , IMoGoAutopilotPlanningListener {
implements IMoGoMapLocationListener , ISmallMapDirectionView , AMapNaviListener , AMapNaviViewListener {
public static final String TAG = " SmallMapDirectionView " ;
private AMapNaviView mAMapNaviView ;
protected AMapNavi mAMapNavi ;
private AMap mAMap ;
protected NaviLatLng mStartLatlng = new NaviLatLng ( ) ;
protected NaviLatLng mEndLatlng = new NaviLatLng ( ) ;
//328路线测试数据
= new NaviLatLng ( 39 . 969111 , 116 . )
= new NaviLatLng ( 40 . 037209 , 116 . )
// 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
// mStartLatlng = new NaviLatLng(40.09383,116.51899);
// mEndLatlng = new NaviLatLng(40.09964,116.54570);
@@ -108,6 +102,7 @@ public class AMapCustomView
private Context mContext ;
private float tilt = 40f ;
private TextView overLayerView ;
private boolean calculate = false ;
public AMapCustomView ( Context context ) {
this ( context , null ) ;
@@ -128,8 +123,6 @@ public class AMapCustomView
private void initView ( Context context ) {
mContext = context ;
sList . add ( mStartLatlng ) ;
eList . add ( mEndLatlng ) ;
//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));
@@ -141,6 +134,7 @@ public class AMapCustomView
// mWayPointList.add(new NaviLatLng(40.037239, 116.337172));
// mWayPointList.add(new NaviLatLng(40.035897, 116.329582));
// mWayPointList.add(new NaviLatLng(40.036396, 116.322166));
Log . d ( TAG , " initView: " + mWayPointList . toString ( ) ) ;
//顺义国展路线
// mWayPointList.add(new NaviLatLng(40.097621,116.526495));
@@ -156,6 +150,8 @@ public class AMapCustomView
mAMapNavi = AMapNavi . getInstance ( context ) ;
mAMapNavi . addAMapNaviListener ( this ) ;
mAMapNaviView . setAMapNaviViewListener ( this ) ;
CallerAutoPilotStatusListenerManager . INSTANCE . addListener ( TAG , mGoAutopilotStatusListener ) ;
CallerAutopilotPlanningListenerManager . INSTANCE . addListener ( TAG , moGoAutopilotPlanningListener ) ;
initAMapView ( context ) ;
// 注册定位监听
CallerMapLocationListenerManager . INSTANCE . addListener ( TAG , this ) ;
@@ -165,11 +161,113 @@ public class AMapCustomView
} ) ;
}
private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener ( ) {
@Override
public void onAutopilotIpcConnectStatusChanged ( int status , @org.jetbrains.annotations.Nullable String reason ) {
}
@Override
public void onAutopilotGuardian ( @org.jetbrains.annotations.Nullable MogoReportMsg . MogoReportMessage guardianInfo ) {
}
@Override
public void onAutopilotSNRequest ( ) {
}
@Override
public void onAutopilotArriveAtStation ( @org.jetbrains.annotations.Nullable MessagePad . ArrivalNotification arrivalNotification ) {
}
@Override
public void onAutopilotStatusResponse ( @NotNull AutopilotStatusInfo autoPilotStatusInfo ) {
ThreadUtils . runOnUiThread ( new Runnable ( ) {
@Override
public void run ( ) {
if ( autoPilotStatusInfo = = null ) return ;
int state = autoPilotStatusInfo . getState ( ) ;
//0 不能自动驾驶 1 可以自动驾驶,但是在人工干预 2 自动驾驶中
if ( state = = IMoGoAutopilotStatusListener . STATUS_AUTOPILOT_RUNNING ) {
Log . d ( TAG , " 自动驾驶中= %s " + String . valueOf ( state ) ) ;
if ( sList . size ( ) = = 0 & & eList . size ( ) = = 0 & & mWayPointList . size ( ) = = 0 ) {
Log . d ( TAG , " sendGlobalPathReq " ) ;
AdasManager . getInstance ( ) . sendGlobalPathReq ( ) ;
}
} else {
int type = mAMapNavi . getNaviType ( ) ;
Log . d ( TAG , " 非自动驾驶状态,导航类型== " + String . valueOf ( type ) ) ;
if ( type = = NaviType . GPS | | type = = NaviType . EMULATOR ) {
mAMapNavi . stopNavi ( ) ;
}
}
}
} ) ;
}
} ;
private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener ( ) {
@Override
public void onAutopilotTrajectory ( @NotNull List < MessagePad . TrajectoryPoint > trajectoryInfos ) {
Log . d ( TAG , " onAutopilotTrajectory " ) ;
}
/**
* 根据全路径获取起始点和经停点进行导航路线绘制
* 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
* 室内某个bag包自动驾驶启动8s后返回
*/
@Override
public void onAutopilotRotting ( @org.jetbrains.annotations.Nullable MessagePad . GlobalPathResp globalPathResp ) {
if ( calculate = = true ) {
return ;
}
calculate = true ;
Log . d ( TAG , " onAutopilotRotting " ) ;
List list = globalPathResp . getWayPointsList ( ) ;
int minCount = 2 ;
if ( list . size ( ) > = minCount & & sList . size ( ) = = 0 & & eList . size ( ) = = 0 & & mWayPointList . size ( ) = = 0 ) {
calculate = true ;
MessagePad . Location sLocation = ( MessagePad . Location ) list . get ( 0 ) ;
MessagePad . Location eLocation = ( MessagePad . Location ) list . get ( list . size ( ) - 1 ) ;
mStartLatlng = new NaviLatLng ( sLocation . getLatitude ( ) , sLocation . getLongitude ( ) ) ;
mEndLatlng = new NaviLatLng ( eLocation . getLatitude ( ) , eLocation . getLongitude ( ) ) ;
sList . clear ( ) ;
eList . clear ( ) ;
sList . add ( mStartLatlng ) ;
eList . add ( mEndLatlng ) ;
mWayPointList . clear ( ) ;
for ( int i = 1 ; i < list . size ( ) - minCount ; i + + ) {
MessagePad . Location wayLoc = ( MessagePad . Location ) list . get ( i ) ;
NaviLatLng way = new NaviLatLng ( wayLoc . getLatitude ( ) , wayLoc . getLongitude ( ) ) ;
mWayPointList . add ( way ) ;
}
}
int strategy = 0 ;
try {
//再次强调， ，
strategy = mAMapNavi . strategyConvert ( true , false , false , false , false ) ;
} catch ( Exception e ) {
e . printStackTrace ( ) ;
}
Log . d ( TAG , " 全局路径 " + list . size ( ) + " ,起点: " + sList . toString ( ) + " ,终点: " + eList . toString ( ) + " ,经点: " + mWayPointList . toString ( ) ) ;
//指定路径绘制导航路线
mAMapNavi . calculateDriveRoute ( sList , eList , mWayPointList , strategy ) ;
}
} ;
@Override
protected void onDetachedFromWindow ( ) {
super . onDetachedFromWindow ( ) ;
// 注册定位监听
CallerMapLocationListenerManager . INSTANCE . removeListener ( TAG ) ;
CallerAutoPilotStatusListenerManager . INSTANCE . removeListener ( TAG ) ;
CallerAutopilotPlanningListenerManager . INSTANCE . removeListener ( TAG ) ;
}
private void initAMapView ( Context context ) {
@@ -243,7 +341,7 @@ public class AMapCustomView
@Override
public void onLocationChanged ( @org.jetbrains.annotations.Nullable MogoLocation location , int from ) {
Log . d ( TAG , " 高精定位onLocationChanged " + location . toString ( ) ) ;
}
private void removeLocation ( Location latLng ) {
@@ -349,6 +447,7 @@ public class AMapCustomView
@Override
public void onInitNaviFailure ( ) {
calculate = false ;
Log . d ( TAG , " onInitNaviFailure " ) ;
}
@@ -371,7 +470,7 @@ public class AMapCustomView
@Override
public void onLocationChange ( AMapNaviLocation aMapNaviLocation ) {
. d ( TAG , " 高德地图经纬度: " + . ( ) . ( ) + " , " + . ( ) . getLatitude ( ) )
// Log.d(TAG, "高德地图经纬度:" + aMapNaviLocation. getCoord(). getLongitude() + "," + aMapNaviLocation. getCoord().getLatitude()) ;
}
@@ -595,42 +694,4 @@ public class AMapCustomView
}
@Override
public void onAutopilotTrajectory ( @NotNull List < MessagePad . TrajectoryPoint > trajectoryInfos ) {
}
/**
* 根据全路径获取起始点和经停点进行导航路线绘制
* 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
* 室内某个bag包自动驾驶启动8s后返回
*/
@Override
public void onAutopilotRotting ( @org.jetbrains.annotations.Nullable MessagePad . GlobalPathResp globalPathResp ) {
List list = globalPathResp . getWayPointsList ( ) ;
int minCount = 2 ;
if ( list . size ( ) > = minCount ) {
Location sLocation = ( Location ) list . get ( 0 ) ;
Location eLocation = ( Location ) list . get ( list . size ( ) - 1 ) ;
mStartLatlng = new NaviLatLng ( sLocation . getLongitude ( ) , sLocation . getLatitude ( ) ) ;
mEndLatlng = new NaviLatLng ( eLocation . getLongitude ( ) , eLocation . getLatitude ( ) ) ;
sList . add ( mStartLatlng ) ;
eList . add ( mEndLatlng ) ;
for ( int i = 1 ; i < list . size ( ) - minCount ; i + + ) {
Location wayLoc = ( Location ) list . get ( i ) ;
NaviLatLng way = new NaviLatLng ( wayLoc . getLongitude ( ) , wayLoc . getLatitude ( ) ) ;
mWayPointList . add ( way ) ;
}
}
int strategy = 0 ;
try {
//再次强调， ，
strategy = mAMapNavi . strategyConvert ( true , false , false , false , false ) ;
} catch ( Exception e ) {
e . printStackTrace ( ) ;
}
Log . d ( TAG , " calculateDriveRoute ADAS全局路径坐标: " + list . size ( ) + " , " + sList . toString ( ) + " , " + eList . toString ( ) + " , " + mWayPointList . toString ( ) ) ;
//指定路径绘制导航路线
mAMapNavi . calculateDriveRoute ( sList , eList , mWayPointList , strategy ) ;
}
}
liujing