diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt index c126b702a8..6a547935cd 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt +++ b/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() 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 } diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt index 5c26b0e1a5..4a663b8a58 100644 --- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt +++ b/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, 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, Bitmap>).apply { realDrawSitePolyline(first, second) } @@ -1296,7 +1305,6 @@ class OverMapView @JvmOverloads constructor( CLEAR_SITE_POLYLINE -> { removeMessages(CLEAR_SITE_POLYLINE) - MarkerDrawerManager.isStopCalculate = false realClearSitePolyline() }