From 91e6f0fab57581ee72068592da00e642a7e868df Mon Sep 17 00:00:00 2001
From: aibingbing <aibingbing@zhidaoauto.com>
Date: Fri, 21 Jul 2023 18:55:42 +0800
Subject: [PATCH] =?UTF-8?q?[Sweeper=20Cloud]=20feat:=20=E5=A2=9E=E5=8A=A0?=
 =?UTF-8?q?=20=E5=AD=90=E4=BB=BB=E5=8A=A1=E5=BC=80=E5=A7=8B/=E7=BB=93?=
 =?UTF-8?q?=E6=9D=9F=20=E6=97=B6=E7=9A=84=E9=AB=98=E7=B2=BE=E5=9C=B0?=
 =?UTF-8?q?=E5=9B=BEMarker=20;?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../och/sweepercloud/constant/SweeperConst.kt |   4 +-
 .../sweepercloud/fragment/SweeperFragment.kt  | 269 ++++++++++++++----
 2 files changed, 219 insertions(+), 54 deletions(-)

diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/SweeperConst.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/SweeperConst.kt
index aa96c7f40d..1c4f5891e8 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/SweeperConst.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/constant/SweeperConst.kt
@@ -55,9 +55,9 @@ class SweeperConst {
         const val EVENT_PARAM_UNABLE_START_REASON = "unable_start_reason";
 
         /**
-         * 订单起终点Marker类型
+         * 子任务起终点Marker类型
          */
-        const val TYPE_MARKER_SWEEPER_ORDER = "TYPE_MARKER_SWEEPER_ORDER"
+        const val TYPE_MARKER_SWEEPER_SUBTASK_START_END = "TYPE_MARKER_SWEEPER_SUBTASK_START_END"
 
         const val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L
 
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
index a1d88cea14..6329c9c5db 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -7,13 +7,18 @@ import chassis.ChassisStatesOuterClass
 import com.amap.api.maps.model.LatLng
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.map.overlay.core.Level
+import com.mogo.map.overlay.point.Point
+import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.common.module.voice.VoiceNotice.showNotice
 import com.mogo.och.sweepercloud.R
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
 import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
+import com.mogo.och.sweepercloud.constant.SweeperConst.Companion.TYPE_MARKER_SWEEPER_SUBTASK_START_END
 import com.mogo.och.sweepercloud.database.MyDataBase
 import com.mogo.och.sweepercloud.presenter.SweeperPresenter
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
@@ -59,7 +64,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     private var mSubTaskType: TaskModel = TaskModel.DEFAULT_MODEL //1:自动驾驶子任务 2：人工驾驶子任务 -1:未知任务类型
     private var mCurrentRunningSubTaskInfo: SubTaskInfo? = null//当前正在执行的子任务
     private var mCurrentSuspendSubTaskInfo: SubTaskInfo? = null//当前暂停的子任务
-    private val mLoadingDialog: SweeperCloudLoadingDialog by lazy { SweeperCloudLoadingDialog(requireContext()) }
+    private val mLoadingDialog: SweeperCloudLoadingDialog by lazy {
+        SweeperCloudLoadingDialog(
+            requireContext()
+        )
+    }
     private var mDialog: SweeperCloudDialog? = null
 
     override fun getTagName(): String {
@@ -119,9 +128,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             //前置条件 (1)必须处于人工驾驶状态 （2）必须有正在执行的子任务，且子任务类型为自动驾驶子任务 才能请求云端进入自驾
             mCurrentRunningSubTaskInfo?.let {
                 if (mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE
-                    && it.taskModel == TaskModel.AUTO) {
+                    && it.taskModel == TaskModel.AUTO
+                ) {
                     mLoadingDialog.showLoading()
-                    mPresenter?.sendSweeperAutopilotBootable(mTaskInfo?.taskId, it.subTaskId, it.lineId.toLong())
+                    mPresenter?.sendSweeperAutopilotBootable(
+                        mTaskInfo?.taskId,
+                        it.subTaskId,
+                        it.lineId.toLong()
+                    )
                 }
             }
         }
@@ -184,7 +198,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 设置云端任务信息
      */
-    fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?) {
+    fun onSweeperCloudTask(
+        messageType: SweeperCloudTask.MessageType,
+        taskInfo: SweeperTask.TaskInfo?
+    ) {
         this.mTaskInfo = taskInfo
         this.mSubMutableList = taskInfo?.subListList
         CallerLogger.d(SceneConstant.M_SWEEPER + TAG, taskInfo?.let { printMessage(it) })
@@ -206,7 +223,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             mPresenter?.isHasTaskInfo(true)
 
             // 默认发送接收到消息的ACK回执
-            mPresenter?.sendSweeperStartTaskResp(taskInfo.taskId, SweeperTask.StartTaskCode.RECEIVED)
+            mPresenter?.sendSweeperStartTaskResp(
+                taskInfo.taskId,
+                SweeperTask.StartTaskCode.RECEIVED
+            )
 
             if (taskInfo.isPop) {
                 showReceivedBigTaskDialog()
@@ -221,7 +241,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 根据云端同步的子任务状态，更新列表中任务状态
      */
-    fun onSweeperUpdateSubTaskStatus(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
+    fun onSweeperUpdateSubTaskStatus(
+        taskId: String,
+        subTaskId: String,
+        subTaskStatus: SweeperCommon.TaskStatus
+    ) {
         mLoadingDialog.hideLoading()
         updateSubTaskInfo(taskId, subTaskId, subTaskStatus)
     }
@@ -229,7 +253,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 子任务确认时，更新子任务信息
      */
-    private fun updateSubTaskInfo(taskId: String, subTaskId: String, subTaskStatus: SweeperCommon.TaskStatus) {
+    private fun updateSubTaskInfo(
+        taskId: String,
+        subTaskId: String,
+        subTaskStatus: SweeperCommon.TaskStatus
+    ) {
         mTaskInfo?.let {
             //如果云端要更新的任务和本地缓存任务不是同一个，在无法更新子任务状态
             if (taskId != it.taskId) {
@@ -244,6 +272,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                             mCurrentRunningSubTaskInfo = subBuilder.build()
                             //更新当前正在执行的任务状态
                             updateCurrentSubTaskInfo(index + 1)
+
+                            // 先移除在添加 起终点 Marker
+                            removeHDMapMarkerBySubTask(subTaskList[index])
+                            addHDMapMarkerBySubTask(subTaskList[index])
                         } else {
                             mCurrentRunningSubTaskInfo = null
                         }
@@ -257,6 +289,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                             //已完成的计入任务进度，未完成的不计入
                             ToastUtils.showLong("任务完成")
                             showNotice("任务完成")
+
+                            removeHDMapMarkerBySubTask(subTaskList[index])
+                        }
+                        // 其他异常结束时也需要remove marker
+                        if (subTaskStatus == SweeperCommon.TaskStatus.ABNORMAL ||
+                            subTaskStatus == SweeperCommon.TaskStatus.CANCEL
+                        ) {
+                            removeHDMapMarkerBySubTask(subTaskList[index])
                         }
                         val builder = it.toBuilder()
                         builder.setSubList(index, subBuilder.build())
@@ -272,7 +312,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 云端请求结束大任务
      */
-    fun onSweeperCloudTaskStop(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, isPop: Boolean) {
+    fun onSweeperCloudTaskStop(
+        taskId: String,
+        stopTaskType: SweeperTaskStop.StopTaskType,
+        isPop: Boolean
+    ) {
         mTaskInfo?.let {
             //如果云端要更新的任务和本地缓存任务不是同一个，在无法结束任务
             if (taskId != it.taskId) {
@@ -289,9 +333,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 结束任务弹窗处理
      */
-    private fun sweeperCloudTaskStopDialog(taskId: String, stopTaskType: SweeperTaskStop.StopTaskType, taskInfo: SweeperTask.TaskInfo) {
+    private fun sweeperCloudTaskStopDialog(
+        taskId: String,
+        stopTaskType: SweeperTaskStop.StopTaskType,
+        taskInfo: SweeperTask.TaskInfo
+    ) {
         mLoadingDialog.hideLoading()
-        val timeoutHintString: String = SweeperCloudTaskUtils.getTimeSpentString(taskInfo.taskEndTime)
+        val timeoutHintString: String =
+            SweeperCloudTaskUtils.getTimeSpentString(taskInfo.taskEndTime)
         //数据重复导致连续弹窗
         if (mDialog != null && mDialog!!.isShowing) {
             return
@@ -361,26 +410,30 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
      * 大任务异常结束弹窗（异常 / 取消）
      */
     private fun sweeperCloudTaskExceptionEndDialog(isCancel: Boolean): SweeperCloudDialog? {
-        return createSweeperTaskExceptionEndDialog(context, object : SweeperCloudDialogClickListener {
-            override fun onConfirm() {
+        return createSweeperTaskExceptionEndDialog(
+            context,
+            object : SweeperCloudDialogClickListener {
+                override fun onConfirm() {
 //                ToastUtils.showLong("任务已结束")
 //                resetTaskInfoPanel()
-            }
+                }
 
-            override fun onRefuseOrEnd() {
+                override fun onRefuseOrEnd() {
 
-            }
+                }
 
-            override fun onCountDownStop() {
+                override fun onCountDownStop() {
 //                ToastUtils.showLong("任务已结束")
 //                resetTaskInfoPanel()
-            }
+                }
 
-            override fun onNext() {
+                override fun onNext() {
 
-            }
+                }
 
-        }, isCancel)
+            },
+            isCancel
+        )
     }
 
     /**
@@ -397,17 +450,19 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             //大任务处于取消状态/异常结束/正常结束 时都代表大任务结束了，任务列表切换为无任务列表状态
             if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
                 || bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL
-                || bigTaskStatus == SweeperCommon.TaskStatus.FINISHED) {
+                || bigTaskStatus == SweeperCommon.TaskStatus.FINISHED
+            ) {
                 mPresenter?.isHasTaskInfo(false)
                 //数据重复导致连续弹窗
                 if (mDialog != null && mDialog!!.isShowing) {
                     return
                 }
                 mDialog = if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
-                               || bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL)
-                              sweeperCloudTaskExceptionEndDialog(bigTaskStatus == SweeperCommon.TaskStatus.CANCEL)
-                          else
-                              sweeperCloudTaskNormalEndDialog()
+                    || bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL
+                )
+                    sweeperCloudTaskExceptionEndDialog(bigTaskStatus == SweeperCommon.TaskStatus.CANCEL)
+                else
+                    sweeperCloudTaskNormalEndDialog()
                 mDialog?.show()
 
                 showNotice("任务已结束")
@@ -421,7 +476,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
             } else if (it.taskStatus == SweeperCommon.TaskStatus.SUSPENDED
-                && bigTaskStatus == SweeperCommon.TaskStatus.RUNNING) { //恢复
+                && bigTaskStatus == SweeperCommon.TaskStatus.RUNNING
+            ) { //恢复
                 showNotice("任务已恢复")
                 ToastUtils.showLong("任务已恢复")
 
@@ -437,7 +493,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 云端同步 暂停/恢复 大任务状态
      */
-    fun onSweeperCloudBigTaskSuspendOrResume(taskId: String, actionType: SweeperTaskCloudSuspendResume.ActionType, isPop:Boolean) {
+    fun onSweeperCloudBigTaskSuspendOrResume(
+        taskId: String,
+        actionType: SweeperTaskCloudSuspendResume.ActionType,
+        isPop: Boolean
+    ) {
         //隐藏loading
         mLoadingDialog.hideLoading()
         mTaskInfo?.let {
@@ -446,7 +506,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 return
             }
             // 发送接收到信息的ACK回执
-            mPresenter?.sendSweeperSuspendResumeTaskResp(taskId, SweeperTaskCloudSuspendResume.Code.RECEIVED)
+            mPresenter?.sendSweeperSuspendResumeTaskResp(
+                taskId,
+                SweeperTaskCloudSuspendResume.Code.RECEIVED
+            )
             if (isPop) {
                 //数据重复导致连续弹窗
                 if (mDialog != null && mDialog!!.isShowing) {
@@ -457,18 +520,22 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                         mDialog = sweeperCloudTaskSuspendDialog()
                         showNotice("云端暂停任务，注意车辆即将停车！")
                     }
+
                     else -> {
                         mDialog = sweeperCloudTaskResumeDialog()
                         var ttsString = "云端恢复任务，注意车辆即将启动！"
                         mCurrentSuspendSubTaskInfo?.also { suspendSub ->
-                            val isAutoPoilotState = mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE
+                            val isAutoPoilotState =
+                                mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE
                             when {
                                 suspendSub.taskModel == TaskModel.MANUAL -> {
                                     ttsString = "云端恢复任务，请继续手动驾驶完成任务！"
                                 }
+
                                 suspendSub.taskModel == TaskModel.AUTO && isAutoPoilotState -> {
                                     ttsString = "云端恢复任务，注意车辆即将启动！"
                                 }
+
                                 suspendSub.taskModel == TaskModel.AUTO && !isAutoPoilotState -> {
                                     ttsString = "云端恢复任务，请到达合适的位置后开启自动驾驶！"
                                 }
@@ -485,7 +552,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * pad请求云端进入自动驾驶回调
      */
-    fun onSweeperCloudAutopilotBootable(taskId: String, subTaskId: String, isBootableResp: SweeperBootable.IsBootableResp) {
+    fun onSweeperCloudAutopilotBootable(
+        taskId: String,
+        subTaskId: String,
+        isBootableResp: SweeperBootable.IsBootableResp
+    ) {
         mLoadingDialog.hideLoading()
         //如果云端要更新的任务和本地缓存任务不是同一个，在无法进行任务列表状态更新
         mTaskInfo?.let {
@@ -517,6 +588,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         setShowCurrentTaskPanelView(false)
         mTaskInfo = null
         mCurrentRunningSubTaskInfo = null
+        mCurrentSuspendSubTaskInfo = null
         mSubMutableList = null
         mSubTaskType = TaskModel.DEFAULT_MODEL
         setTaskProgress("0")
@@ -585,7 +657,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         val subInfo = getSubTaskInfoBySubId(subTaskId)
         subInfo?.let {
             // 发送接收到消息的ACK回执
-            mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.RECEIVED)
+            mPresenter?.sendSweeperTaskConfirmResp(
+                taskId,
+                subTaskId,
+                SweeperTaskConfirm.TaskConfirmCode.RECEIVED
+            )
             updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
 
             if (isPop) {
@@ -597,7 +673,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 云控下发子任务确认弹窗
      */
-    private fun showSubTaskConfirmDialog(taskId: String, subTaskId: String, subTaskInfo: SubTaskInfo) {
+    private fun showSubTaskConfirmDialog(
+        taskId: String,
+        subTaskId: String,
+        subTaskInfo: SubTaskInfo
+    ) {
         mLoadingDialog.hideLoading()
         if (mTaskInfo == null) return
         if (mTaskInfo?.taskId != taskId) return
@@ -605,33 +685,34 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         if (mDialog != null && mDialog!!.isShowing) {
             return
         }
-        mDialog = createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
-            override fun onConfirm() {
+        mDialog =
+            createConfirmStartSubTaskDialog(context, object : SweeperCloudDialogClickListener {
+                override fun onConfirm() {
 //                //ToastUtils.showLong("确认")
 //                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_CONFIRM)
 //                //mPresenter?.setPreLineId(-1)
 //                updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
 //                mLoadingDialog.showLoading()
-            }
+                }
 
-            override fun onRefuseOrEnd() {
+                override fun onRefuseOrEnd() {
 //                //ToastUtils.showLong("结束")
 //                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_ALL)
 //                mLoadingDialog.showLoading()
-            }
+                }
 
-            override fun onCountDownStop() {
+                override fun onCountDownStop() {
 //                //ToastUtils.showLong("倒计时结束")
 //                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.OVER_TIME)
 //                mLoadingDialog.showLoading()
-            }
+                }
 
-            override fun onNext() {
+                override fun onNext() {
 //                //ToastUtils.showLong("下一个")
 //                mPresenter?.sendSweeperTaskConfirmResp(taskId, subTaskId, SweeperTaskConfirm.TaskConfirmCode.MANUAL_REFUSE_SINGLE)
 //                mLoadingDialog.showLoading()
-            }
-        }, subTaskInfo)
+                }
+            }, subTaskInfo)
         mDialog?.show()
         if (subTaskInfo.taskModel == TaskModel.MANUAL) {
             showNotice("请确认并执行子任务")
@@ -650,8 +731,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             if (mDialog != null && mDialog!!.isShowing) {
                 return
             }
-            mDialog = createReceivedBigTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
-                override fun onConfirm() {
+            mDialog =
+                createReceivedBigTaskInfoDialog(context, object : SweeperCloudDialogClickListener {
+                    override fun onConfirm() {
 //                    ToastUtils.showLong("确认")
 //                    mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_CONFIRM)
 //                    setShowCurrentTaskPanelView(true)
@@ -659,26 +741,26 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 //                    mLoadingDialog.showLoading()
 //                    addTaskData()
 //                    mPresenter?.isHasTaskInfo(true)
-                }
+                    }
 
-                override fun onRefuseOrEnd() {
+                    override fun onRefuseOrEnd() {
 //                    ToastUtils.showLong("拒绝")
 //                    mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.MANUAL_REFUSE)
 //                    mLoadingDialog.showLoading()
 //                    resetTaskInfoPanel()
-                }
+                    }
 
-                override fun onCountDownStop() {
+                    override fun onCountDownStop() {
 //                    ToastUtils.showLong("倒计时结束")
 //                    resetTaskInfoPanel()
 //                    mPresenter?.sendSweeperStartTaskResp(it.taskId, SweeperTask.StartTaskCode.OVER_TIME)
 //                    mLoadingDialog.showLoading()
-                }
+                    }
 
-                override fun onNext() {
+                    override fun onNext() {
 
-                }
-            }, it)
+                    }
+                }, it)
             mDialog?.show()
             showNotice("已为您接取任务")
         }
@@ -729,4 +811,87 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             }
         })
     }
+
+    /**
+     * 添加高精地图中的 子任务 起终点 Marker
+     */
+    private fun addHDMapMarkerBySubTask(subTask: SubTaskInfo) {
+        if (subTask.startLocation == null
+            || subTask.endLocation == null
+            || subTask.subTaskId == null
+        ) {
+            return
+        }
+        val startPoint = subTask.startLocation
+        val endPoint = subTask.endLocation
+        val hdMarkerIdStart = "marker_sweeper_subtask_${subTask.subTaskId}_start"
+        val hdMarkerIdEnd = "marker_sweeper_subtask_${subTask.subTaskId}_end"
+        setMapMaker(hdMarkerIdStart, startPoint.longitude, startPoint.latitude, true)
+        setMapMaker(hdMarkerIdEnd, endPoint.longitude, endPoint.latitude, false)
+    }
+
+    /**
+     * 移除高精地图中的 子任务 起终点 Marker
+     */
+    private fun removeHDMapMarkerBySubTask(subTask: SubTaskInfo) {
+        removeMapMaker()
+    }
+
+    /**
+     * 设置高精地图里的Marker
+     */
+    private fun setMapMaker(
+        uuid: String,
+        longitude: Double,
+        latitude: Double,
+        isStartMarker: Boolean
+    ) {
+        //开启线程执行起终点marker设置
+        val setMapMarkerRunnable = Runnable {
+            CallerLogger.d(
+                SceneConstant.M_SWEEPER + TAG + "setMapMaker",
+                "threadName=${Thread.currentThread().name}, uuid=$uuid, latitude=$latitude, longitude=$longitude"
+            )
+
+            val builder =
+                Point.Options.Builder(TYPE_MARKER_SWEEPER_SUBTASK_START_END, Level.MAP_MARKER)
+                    .setId(uuid)
+                    .anchor(0.5f, 0.5f)
+                    .set3DMode(true)
+                    .isUseGps(true)
+                    .controlAngle(true)
+                    .icon3DRes(if (isStartMarker) R.raw.star_marker else R.raw.end_marker)
+                    .longitude(longitude)
+                    .latitude(latitude)
+            val mapUIController = CallerMapUIServiceManager.getMapUIController()
+            if (mapUIController != null) {
+                val centerLine = mapUIController.getCenterLineInfo(longitude, latitude, -1f)
+                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
+                    val angle = centerLine.angle
+                    if (angle != null) {
+                        builder.rotate(angle.toFloat())
+                    }
+                }
+            }
+            val overlayManager = CallerMapUIServiceManager.getOverlayManager()
+            overlayManager?.showOrUpdatePoint(builder.build())
+        }
+        OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
+    }
+
+    /**
+     * 移除高精地图里的Marker
+     */
+    private fun removeMapMaker() {
+        //开启线程移除起终点marker设置
+        val removeMapMarkerRunnable = Runnable {
+            CallerLogger.d(
+                SceneConstant.M_SWEEPER + TAG + "RemoveMapMaker",
+                "threadName=${Thread.currentThread().name}"
+            )
+            val overlayManager = CallerMapUIServiceManager.getOverlayManager()
+            overlayManager?.removeAllPointsInOwner(TYPE_MARKER_SWEEPER_SUBTASK_START_END)
+        }
+        OCHThreadPoolManager.getsInstance().execute(removeMapMarkerRunnable)
+    }
 }
\ No newline at end of file