[6.1.0][Fix]解决车原地掉头过程中画线的问题

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt

@@ -84,11 +84,11 @@ object MarkerDrawerManager {
         lat: Double,
         heading: Double
     ) {
-        if (!isStopCalculate && routePoints != null && routePoints.isNotEmpty()) {
+        if (!isStopCalculate && !routePoints.isNullOrEmpty()) {
             val newPointList = ArrayList<LatLng>()
             val locationIndex: Int =
                 getCarLocationIndex(routePoints, newPointList, lon, lat, heading)
-            Log.d("MarkerDrawerManager", "自车在轨迹集合中的索引为：$locationIndex")
+            Log.d("MarkerDrawerManager", "准备去绘制的自车在轨迹集合中的索引为：$locationIndex")
             callback?.onLocationChanged(newPointList, locationIndex)
         }
     }
@@ -137,6 +137,7 @@ object MarkerDrawerManager {
         var distance = 0.0
         var tmpDistance: Double
         var angle = 0.0
+        if (routePoints.size <= 1) return 0
         routePoints.forEachIndexed { index, latLng ->
             newPoints.add(LatLng(latLng.latitude, latLng.longitude))
             when (index) {
@@ -144,14 +145,15 @@ object MarkerDrawerManager {
                     distance = LocationUtils.pointToLine(
                         latLng.longitude,
                         latLng.latitude,
-                        routePoints[index + 1].longitude,
-                        routePoints[index + 1].latitude,
+                        routePoints[1].longitude,
+                        routePoints[1].latitude,
                         realLon,
                         realLat
                     )
                     if (distance > 200000) {
                         isLongDistance = true
                     }
+                    Log.d("MarkerDrawerManager", "计算车坐标距离0-1线段的距离为:$distance")
                 }
 
                 routePoints.size - 1 -> {}
@@ -173,53 +175,26 @@ object MarkerDrawerManager {
                             routePoints[index + 1].longitude,
                             routePoints[index + 1].latitude
                         )
+                        Log.d(
+                            "MarkerDrawerManager",
+                            "index为:$index,车航向角为:$heading,到此路段的距离为:$tmpDistance,路段角度为:$angle"
+                        )
                         if (getAngleDiff(angle, heading) < 90) {
-                            if (index < currentIndex) {
-                                return@forEachIndexed
-                            } else {
-                                distance = tmpDistance
-                                currentIndex = index
-                            }
+                            distance = tmpDistance
+                            currentIndex = index
                         }
                     }
                 }
             }
         }
-        Log.d(
-            "MarkerDrawerManager", "起点为:(${newPoints[0].longitude},${newPoints[0].latitude}),终点为:(${newPoints.last().longitude},${newPoints.last().latitude})"
-        )
+
         if (!isLongDistance && currentIndex > 0) {
             val size = routePoints.size
-//            // 对于非法结果，需要纠正
-//            if (currentIndex < lastArrivedIndex || (lastArrivedIndex > 0 && currentIndex - lastArrivedIndex > 5)) {
-//                val lastNextIndex = lastArrivedIndex + 1
-//                var isLastNextArrived = false
-//                if (lastNextIndex in 0 until size) {
-//                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
-//                            realLon,
-//                            realLat,
-//                            routePoints[lastNextIndex].longitude,
-//                            routePoints[lastNextIndex].latitude,
-//                            heading
-//                        ) >= 90
-//                    ) {
-//                        isLastNextArrived = true
-//                    }
-//                }
-//
-//                if (isLastNextArrived) {
-//                    currentIndex = lastNextIndex
-//                    lastArrivedIndex = currentIndex
-//                } else {
-//                    if (lastArrivedIndex in 0 until size) {
-//                        currentIndex = lastArrivedIndex
-//                    }
-//                }
-//            } else {
-//                lastArrivedIndex = currentIndex
-//            }
             if (size >= 2) {
-                Log.d("MarkerDrawerManager", "最终绘制的已走过index为:$currentIndex,车所在位置为:${currentIndex + 1}")
+                Log.d(
+                    "MarkerDrawerManager",
+                    "计算出来的已走过index为:$currentIndex,车所在位置为:${currentIndex + 1}"
+                )
                 newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
                 return currentIndex + 1
             }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt

@@ -24,10 +24,12 @@ import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.v2x.Center
 import com.mogo.eagle.core.data.v2x.V2XEventData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoV2XListener
 import com.mogo.eagle.core.function.api.biz.IFuncBizProvider
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
@@ -61,7 +63,7 @@ class OverMapView @JvmOverloads constructor(
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
 ) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
-    IMoGoPlanningRottingListener, IMoGoV2XListener {
+    IMoGoPlanningRottingListener, IMoGoV2XListener, IMoGoAutopilotStatusListener {
 
     // =============自定义属性相关=============
     private var mapStylePath: String? = null
@@ -461,6 +463,7 @@ class OverMapView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerPlanningRottingListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         // 注册定位监听
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
         CallerFuncBizListenerManager.addListener(TAG, object : IFuncBizProvider {
@@ -489,6 +492,7 @@ class OverMapView @JvmOverloads constructor(
                 }
             }
         }
+        MarkerDrawerManager.isStopCalculate = CallerAutoPilotStatusListenerManager.getState() != 2
     }
 
     private fun setUpMap() {
@@ -581,6 +585,7 @@ class OverMapView @JvmOverloads constructor(
      * 绘制全局轨迹线
      */
     fun drawPolyLine(coordinates: List<LatLng>, locIndex: Int) {
+        if (locIndex < 0) return
         Message.obtain().apply {
             what = DRAW_POLY_LINE
             obj = Pair(coordinates, locIndex)
@@ -656,6 +661,7 @@ class OverMapView @JvmOverloads constructor(
         CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
         CallerPlanningRottingListenerManager.removeListener(TAG)
         CallerV2XListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
         frequentHandler?.looper?.quitSafely()
         nonFrequentHandler?.looper?.quitSafely()
         frequentHandler = null
@@ -666,6 +672,11 @@ class OverMapView @JvmOverloads constructor(
         return false
     }
 
+    override fun onAutopilotStatusResponse(state: Int) {
+        // 非自动驾驶状态时停止绘制全局轨迹，降低性能损耗
+        MarkerDrawerManager.isStopCalculate = state != 2
+    }
+
     /**
      * 绘制新基建Markers(比如：摄像头)
      *
@@ -1151,9 +1162,9 @@ class OverMapView @JvmOverloads constructor(
         } else {
             lastTime = System.currentTimeMillis()
         }
-        MarkerDrawerManager.stopLoopCalCarLocation()
         globalPathResp?.let {
             ThreadUtils.getSinglePool().execute {
+                MarkerDrawerManager.stopLoopCalCarLocation()
                 handlePlanningData(it.wayPointsList)
             }
         }
@@ -1261,8 +1272,6 @@ class OverMapView @JvmOverloads constructor(
             when (msg.what) {
                 DRAW_SITE_LINE -> {
                     removeMessages(DRAW_SITE_LINE)
-                    // 绘制站点轨迹线时停止绘制全局轨迹，降低性能损耗
-                    MarkerDrawerManager.isStopCalculate = true
                     (msg.obj as Pair<List<LatLng>, Bitmap>).apply {
                         realDrawSitePolyline(first, second)
                     }
@@ -1296,7 +1305,6 @@ class OverMapView @JvmOverloads constructor(
 
                 CLEAR_SITE_POLYLINE -> {
                     removeMessages(CLEAR_SITE_POLYLINE)
-                    MarkerDrawerManager.isStopCalculate = false
                     realClearSitePolyline()
                 }