From a9a6dcdc0657b37cccaeccdb3b3005ec7a5da8f8 Mon Sep 17 00:00:00 2001
From: zhongchao <zhongchao@zhidaoauto.com>
Date: Tue, 19 Sep 2023 14:28:22 +0800
Subject: [PATCH] [3.4.0-map-sdk] fix unmanunal and sweep map invoke

---
 .../och/bus/passenger/ui/PM2HPMapFragment.kt  |  23 ++--
 .../sweepercloud/fragment/SweeperFragment.kt  | 107 +++++++++++-------
 .../util/SweeperCloudTaskUtils.kt             |  68 ++++++-----
 .../mogo/och/taxi/utils/MapMakerManager.kt    |  24 ++--
 4 files changed, 123 insertions(+), 99 deletions(-)

diff --git a/OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt b/OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt
index 11934b3cd2..209869e7bc 100644
--- a/OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt
+++ b/OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt
@@ -7,6 +7,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getOverla
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
+import com.mogo.map.MapDataWrapper
 import com.mogo.och.bus.passenger.R
 import com.mogo.och.bus.passenger.constant.M2Const.Companion.TYPE_MARKER_M2_LINE
 import com.mogo.och.bus.passenger.presenter.PM2ADASPresenter
@@ -80,8 +81,10 @@ class PM2HPMapFragment :
     ) {
         //开启线程执行起终点marker设置
         val setMapMarkerRunnable = Runnable {
-            d("setMapMaker= " + Thread.currentThread().name,
-                uuid + "=latitude=" + station[1] + ",longitude=" + station[0])
+            d(
+                "setMapMaker= " + Thread.currentThread().name,
+                uuid + "=latitude=" + station[1] + ",longitude=" + station[0]
+            )
 
             val builder = Point.Options.Builder(
                 TYPE_MARKER_M2_LINE,
@@ -95,16 +98,12 @@ class PM2HPMapFragment :
                 .icon3DRes(R.raw.star_marker)
                 .longitude(station[0])
                 .latitude(station[1])
-            val mapUIController = getMapUIController()
-            if (mapUIController != null) {
-                val centerLine = mapUIController.getCenterLineInfo(
-                    station[0], station[1], -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())
-                    }
+            MapDataWrapper.getCenterLineInfo(
+                station[0], station[1], -1f
+            ) {
+                // 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
+                it?.let{
+                    builder.rotate(it.angle.toFloat())
                 }
             }
             val overlayManager = getOverlayManager()
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 361c88dcbe..f8873a2c85 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
@@ -12,6 +12,7 @@ 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.MapDataWrapper
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
@@ -44,9 +45,8 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
 import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
-import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_cl_work_mode
-import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_current_task_view
-import kotlinx.android.synthetic.main.sweeper_no_data_common_view.noTaskDataView
+import kotlinx.android.synthetic.main.fragment_och_sweeper.*
+import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 
@@ -148,7 +148,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
             state == STATUS_AUTOPILOT_ENABLE,
             mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
-            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING)
+            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING
+        )
     }
 
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
@@ -293,7 +294,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     if (subTaskList[index].subTaskId == subTaskId) {
                         val subBuilder = subTaskList[index].toBuilder()
                         subBuilder.taskStatus = subTaskStatus
-                        if (subTaskStatus == SweeperCommon.TaskStatus.RUNNING) {
+                        if (subTaskStatus == TaskStatus.RUNNING) {
                             mCurrentRunningSubTaskInfo = subBuilder.build()
                             //更新当前正在执行的任务状态
                             updateCurrentSubTaskInfo(index + 1)
@@ -303,13 +304,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                         } else {
                             mCurrentRunningSubTaskInfo = null
                         }
-                        if (subTaskStatus == SweeperCommon.TaskStatus.SUSPENDED) {
+                        if (subTaskStatus == TaskStatus.SUSPENDED) {
                             mCurrentSuspendSubTaskInfo = subBuilder.build()
                         } else {
                             mCurrentSuspendSubTaskInfo = null
                         }
                         //判断是否结束子任务
-                        if (subTaskStatus == SweeperCommon.TaskStatus.FINISHED) {
+                        if (subTaskStatus == TaskStatus.FINISHED) {
                             //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")
@@ -317,8 +318,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                             removeHDMapMarkerBySubTask(subTaskList[index])
                         }
                         // 其他异常结束时也需要remove marker
-                        if (subTaskStatus == SweeperCommon.TaskStatus.ABNORMAL ||
-                            subTaskStatus == SweeperCommon.TaskStatus.CANCEL
+                        if (subTaskStatus == TaskStatus.ABNORMAL ||
+                            subTaskStatus == TaskStatus.CANCEL
                         ) {
                             removeHDMapMarkerBySubTask(subTaskList[index])
                         }
@@ -384,7 +385,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 //                    mLoadingDialog.showLoading()
 //                    //ToastUtils.showLong("确认")
                     // 发送接收到信息的ACK回执
-                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
+                    mPresenter?.sendSweeperStopTaskResp(
+                        taskId,
+                        SweeperTaskStop.StopTaskCode.RECEIVED
+                    )
                 }
 
                 override fun onRefuseOrEnd() {
@@ -398,7 +402,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 //                    mLoadingDialog.showLoading()
 //                    //ToastUtils.showLong("倒计时")
                     // 发送接收到信息的ACK回执
-                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
+                    mPresenter?.sendSweeperStopTaskResp(
+                        taskId,
+                        SweeperTaskStop.StopTaskCode.RECEIVED
+                    )
                 }
 
                 override fun onNext() {
@@ -468,7 +475,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 云端同步大任务状态
      */
-    fun onSweeperCloudBigTaskStatus(taskId: String, bigTaskStatus: SweeperCommon.TaskStatus, isPop: Boolean) {
+    fun onSweeperCloudBigTaskStatus(
+        taskId: String,
+        bigTaskStatus: SweeperCommon.TaskStatus,
+        isPop: Boolean
+    ) {
         //隐藏loading
         mLoadingDialog.hideLoading()
         mTaskInfo?.let {
@@ -477,16 +488,17 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 return
             }
             //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
+            if (bigTaskStatus == TaskStatus.CANCEL
+                || bigTaskStatus == TaskStatus.ABNORMAL
+                || bigTaskStatus == TaskStatus.FINISHED
             ) {
                 mPresenter?.isHasTaskInfo(false)
                 if (isPop) {
-                    mDialog = if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
-                        || bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL){
-                        sweeperCloudTaskExceptionEndDialog(bigTaskStatus == SweeperCommon.TaskStatus.CANCEL)}
-                    else
+                    mDialog = if (bigTaskStatus == TaskStatus.CANCEL
+                        || bigTaskStatus == TaskStatus.ABNORMAL
+                    ) {
+                        sweeperCloudTaskExceptionEndDialog(bigTaskStatus == TaskStatus.CANCEL)
+                    } else
                         sweeperCloudTaskNormalEndDialog()
                     mDialog?.show()
                 }
@@ -495,29 +507,29 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 // 大任务这里也判断移除HD Marker, 双重判断
                 removeHDMapMarkerBySubTask(mCurrentRunningSubTaskInfo)
                 resetTaskInfoPanel()
-            } else if (bigTaskStatus == SweeperCommon.TaskStatus.SUSPENDED) {// 暂停
+            } else if (bigTaskStatus == TaskStatus.SUSPENDED) {// 暂停
                 showNotice("任务已暂停")
                 ToastUtils.showLong("任务已暂停")
                 //更新任务列表中大任务状态
                 val builder = it.toBuilder()
-                builder.taskStatus = SweeperCommon.TaskStatus.SUSPENDED
+                builder.taskStatus = TaskStatus.SUSPENDED
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
-            } else if (it.taskStatus == SweeperCommon.TaskStatus.SUSPENDED
-                && bigTaskStatus == SweeperCommon.TaskStatus.RUNNING
+            } else if (it.taskStatus == TaskStatus.SUSPENDED
+                && bigTaskStatus == TaskStatus.RUNNING
             ) { //恢复
                 showNotice("任务已恢复")
                 ToastUtils.showLong("任务已恢复")
 
                 //更新任务列表中大任务状态
                 val builder = it.toBuilder()
-                builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
+                builder.taskStatus = TaskStatus.RUNNING
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
-            } else if (bigTaskStatus == SweeperCommon.TaskStatus.RUNNING) { //首次开始运行的时候，非恢复后的运行
+            } else if (bigTaskStatus == TaskStatus.RUNNING) { //首次开始运行的时候，非恢复后的运行
                 //更新任务列表中大任务状态
                 val builder = it.toBuilder()
-                builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
+                builder.taskStatus = TaskStatus.RUNNING
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
             }
@@ -637,7 +649,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         mSubMutableList = mTaskInfo?.subListList
         mSubMutableList?.apply {
             for (index in 0 until size) {
-                if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
+                if (get(index).taskStatus == TaskStatus.RUNNING) {
                     mCurrentRunningSubTaskInfo = get(index)
                     updateCurrentSubTaskInfo(index + 1)
                     return index
@@ -691,7 +703,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         if (mTaskInfo?.taskId != taskId) return
         val subInfo = getSubTaskInfoBySubId(subTaskId)
         subInfo?.let {
-            updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
+            updateSubTaskInfo(taskId, subTaskId, TaskStatus.RUNNING)
 
             if (isPop) {
                 showSubTaskConfirmDialog(taskId, subTaskId, it)
@@ -858,7 +870,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 大任务恢复弹框
      */
-    private fun sweeperCloudTaskResumeDialog(contentStr: String, taskId: String): SweeperCloudDialog? {
+    private fun sweeperCloudTaskResumeDialog(
+        contentStr: String,
+        taskId: String
+    ): SweeperCloudDialog? {
         return createSweeperTaskResumeDialog(context, object : SweeperCloudDialogClickListener {
             override fun onConfirm() {
                 // 发送接收到信息的ACK回执
@@ -901,8 +916,18 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         val hdMarkerIdStart = "marker_sweeper_subtask_${subTask.subTaskId}_start"
         val hdMarkerIdEnd = "marker_sweeper_subtask_${subTask.subTaskId}_end"
 
-        val setStartMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdStart, startPoint.wgsLongitude, startPoint.wgsLatitude, true)
-        val setEndMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdEnd, endPoint.wgsLongitude, endPoint.wgsLatitude, false)
+        val setStartMarkerRunnable = createSetHDMapMakerRunnable(
+            hdMarkerIdStart,
+            startPoint.wgsLongitude,
+            startPoint.wgsLatitude,
+            true
+        )
+        val setEndMarkerRunnable = createSetHDMapMakerRunnable(
+            hdMarkerIdEnd,
+            endPoint.wgsLongitude,
+            endPoint.wgsLatitude,
+            false
+        )
         val removeMarkerRunnable = createRemoveHDMapMakerRunnable()
 
         val addSubTaskHDMarkRunnable = Runnable {
@@ -930,11 +955,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         longitude: Double,
         latitude: Double,
         isStartMarker: Boolean
-    ) : Runnable {
+    ): Runnable {
         //开启线程执行起终点marker设置
         val setMapMarkerRunnable = Runnable {
             CallerLogger.d(
-                SceneConstant.M_SWEEPER + "-" +TAG + "-setMapMaker",
+                SceneConstant.M_SWEEPER + "-" + TAG + "-setMapMaker",
                 "threadName=${Thread.currentThread().name}, uuid=$uuid, latitude=$latitude, longitude=$longitude"
             )
 
@@ -948,14 +973,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     .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())
-                    }
+            MapDataWrapper.getCenterLineInfo(longitude, latitude, -1f) {
+                // 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
+                it?.let {
+                    builder.rotate(it.angle.toFloat())
                 }
             }
             val overlayManager = CallerMapUIServiceManager.getOverlayManager()
@@ -967,11 +988,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 移除高精地图里的Marker Runnable
      */
-    private fun createRemoveHDMapMakerRunnable() : Runnable{
+    private fun createRemoveHDMapMakerRunnable(): Runnable {
         //开启线程移除起终点marker设置
         val removeMapMarkerRunnable = Runnable {
             CallerLogger.d(
-                SceneConstant.M_SWEEPER + "-" +TAG + "-RemoveMapMaker",
+                SceneConstant.M_SWEEPER + "-" + TAG + "-RemoveMapMaker",
                 "threadName=${Thread.currentThread().name}"
             )
             val overlayManager = CallerMapUIServiceManager.getOverlayManager()
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
index e63b6806fb..d7ed6050b3 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -9,6 +9,7 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 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.map.MapDataWrapper
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
 import com.mogo.och.common.module.utils.DateTimeUtil
@@ -30,7 +31,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
-import java.util.UUID
+import java.util.*
 
 object SweeperCloudTaskUtils {
     const val TAG = "SweeperCloudTaskUtils"
@@ -66,10 +67,10 @@ object SweeperCloudTaskUtils {
         subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
         val startLocation0 = Location.newBuilder()
         startLocation0.siteName = "自动驾驶子任务起点0"
-        startLocation0.wgsLongitude =112.56970262448544
+        startLocation0.wgsLongitude = 112.56970262448544
         startLocation0.wgsLatitude = 26.817567832504274
         startLocation0.longitude = 112.57493487730413
-        startLocation0.latitude =  26.81397095451884
+        startLocation0.latitude = 26.81397095451884
         subBuilder0.startLocation = startLocation0.build()
         val endLocation0 = Location.newBuilder()
         endLocation0.siteName = "自动驾驶子任务终点0"
@@ -156,7 +157,10 @@ object SweeperCloudTaskUtils {
             System.currentTimeMillis(),
             builder.build()
         )
-        CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "messageType:" + messageType.number + "taskInfo:" + printMessage(builder.build()))
+        CallerLogger.d(
+            SceneConstant.M_SWEEPER + TAG,
+            "messageType:" + messageType.number + "taskInfo:" + printMessage(builder.build())
+        )
     }
 
     /**
@@ -244,10 +248,13 @@ object SweeperCloudTaskUtils {
      */
     @JvmStatic
     fun mockAddHdMarker(uuid: String, longitude: Double, latitude: Double, isStartMarker: Boolean) {
-         //开启线程执行起终点marker设置
+        //开启线程执行起终点marker设置
         val setMapMarkerRunnable = Runnable {
             val builder =
-                Point.Options.Builder(SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END, Level.MAP_MARKER)
+                Point.Options.Builder(
+                    SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END,
+                    Level.MAP_MARKER
+                )
                     .setId(uuid)
                     .anchor(0.5f, 0.5f)
                     .set3DMode(true)
@@ -256,14 +263,10 @@ object SweeperCloudTaskUtils {
                     .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())
-                    }
+            MapDataWrapper.getCenterLineInfo(longitude, latitude, -1f) {
+                // 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
+                it?.let {
+                    builder.rotate(it.angle.toFloat())
                 }
             }
             val overlayManager = CallerMapUIServiceManager.getOverlayManager()
@@ -294,18 +297,23 @@ object SweeperCloudTaskUtils {
      * 创建接收大任务弹窗
      */
     @JvmStatic
-    fun createReceivedBigTaskInfoDialog(context: Context?, listener: SweeperCloudDialogClickListener?, taskInfo: TaskInfo): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+    fun createReceivedBigTaskInfoDialog(
+        context: Context?,
+        listener: SweeperCloudDialogClickListener?,
+        taskInfo: TaskInfo
+    ): SweeperCloudDialog? {
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         val startCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskStartTime)
         val endCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskEndTime)
         builder.titleStr = "任务接取"
         builder.contentStr = "已为您接取任务${taskInfo.taskName}"
-        builder.tipStr = "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
-            DateTimeUtil.formatCalendarToString(
-                endCalendar,
-                DateTimeUtil.HH_mm
-            )
-        }）"
+        builder.tipStr =
+            "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
+                DateTimeUtil.formatCalendarToString(
+                    endCalendar,
+                    DateTimeUtil.HH_mm
+                )
+            }）"
         builder.leftStr = "确认"
         builder.middleStr = ""
         builder.rightStr = ""
@@ -323,7 +331,7 @@ object SweeperCloudTaskUtils {
         listener: SweeperCloudDialogClickListener?,
         subTaskInfo: SubTaskInfo
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "子任务确认"
         builder.contentStr = "请确认并执行子任务 ${subTaskInfo.subTaskName}"
         builder.tipStr =
@@ -346,7 +354,7 @@ object SweeperCloudTaskUtils {
         stopTaskType: SweeperTaskStop.StopTaskType,
         timeoutStr: String
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         val titleStr = when (stopTaskType) {
             SweeperTaskStop.StopTaskType.ADVANCE -> "任务中止"
             SweeperTaskStop.StopTaskType.EXCEPTION -> "任务异常结束"
@@ -386,7 +394,7 @@ object SweeperCloudTaskUtils {
         context: Context?,
         listener: SweeperCloudDialogClickListener?
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务结束"
         builder.contentStr = "任务已完成，干的漂亮！"
         builder.tipStr = ""
@@ -407,7 +415,7 @@ object SweeperCloudTaskUtils {
         listener: SweeperCloudDialogClickListener?,
         isCancel: Boolean
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务结束"
         builder.contentStr = if (isCancel) "任务已取消！" else "任务已异常结束！"
         builder.tipStr = ""
@@ -424,7 +432,7 @@ object SweeperCloudTaskUtils {
         context: Context?,
         listener: SweeperCloudDialogClickListener?
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务暂停"
         builder.contentStr = "云端暂停任务，注意车辆即将停车！"
         builder.tipStr = "【云端任务恢复前不可启动自动驾驶】"
@@ -442,7 +450,7 @@ object SweeperCloudTaskUtils {
         listener: SweeperCloudDialogClickListener?,
         contentStr: String
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务恢复"
         builder.contentStr = contentStr
         builder.tipStr = "【注意安全，坐稳扶好】"
@@ -456,11 +464,11 @@ object SweeperCloudTaskUtils {
 
     @JvmStatic
     fun printMessage(message: MessageOrBuilder): String {
-        return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
+        return "\n" + TextFormat.printer().escapingNonAscii(false).printToString(message)
     }
 
     @JvmStatic
-    fun getRequestId():String{
+    fun getRequestId(): String {
         return UUID.randomUUID().toString()
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
index a2f0feb736..ce60dc6e1e 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
@@ -3,6 +3,7 @@ package com.mogo.och.taxi.utils
 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.map.MapDataWrapper
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
@@ -13,7 +14,7 @@ import com.mogo.och.common.module.utils.OCHThreadPoolManager
  */
 object MapMakerManager {
 
-    fun addMapMaker(owner: String, uuid: String, lat: Double, lon: Double, resourceId: Int){
+    fun addMapMaker(owner: String, uuid: String, lat: Double, lon: Double, resourceId: Int) {
 
         val setMapMarkerRunnable = Runnable {
             CallerLogger.d(
@@ -34,17 +35,12 @@ object MapMakerManager {
                     .icon3DRes(resourceId)
                     .latitude(lat)
                     .longitude(lon)
-            val mapUIController =
-                CallerMapUIServiceManager.getMapUIController()
-            if (mapUIController != null) {
-                val centerLine =
-                    mapUIController.getCenterLineInfo(
-                        lon, lat, -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
-                    val angle = centerLine.angle
-                    if (angle != null) {
-                        builder.rotate(angle.toFloat())
+            MapDataWrapper.getCenterLineInfo(// 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
+                lon, lat, -1f
+            ) {
+                it?.let {
+                    if (it.angle != null) {
+                        builder.rotate(it.angle.toFloat())
                     }
                 }
             }
@@ -55,7 +51,7 @@ object MapMakerManager {
         OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
     }
 
-    fun removeMapMaker(uuid: String, lat: Double, lon: Double){
+    fun removeMapMaker(uuid: String, lat: Double, lon: Double) {
         //开启线程移除起终点marker设置
         val removeMapMarkerRunnable = Runnable {
             CallerLogger.d(
@@ -70,7 +66,7 @@ object MapMakerManager {
         OCHThreadPoolManager.getsInstance().execute(removeMapMarkerRunnable)
     }
 
-    fun removeAllMapMarkerByOwner(owner: String){
+    fun removeAllMapMarkerByOwner(owner: String) {
         //开启线程移除起终点marker设置
         val removeAllMapMarkerRunnable = Runnable {
             CallerLogger.d(