[merge2master]

core/function-impl/mogo-core-function-map/src/main/assets/planningDataTest.txt

@@ -0,0 +1 @@
+全局路径规划的GSON格式的轨迹点数据放这里，然后使用PlanningDataUtils工具类解析一下

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

@@ -0,0 +1,32 @@
+package com.mogo.eagle.core.function
+
+import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
+import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
+import com.mogo.eagle.core.function.business.SpeedLimitDataManager
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager
+import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
+import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
+
+@Route(path = MogoServicePaths.PATH_MAP_BIZ)
+class MapBizProvider :IMoGoFunctionServerProvider{
+
+    override val functionName: String
+        get() = "MapBizProvider"
+
+    override fun init(context: Context?) {
+        MapIdentifySubscriber.instance
+        MogoRouteOverlayManager.getInstance().init()
+        MapPointCloudSubscriber.instance
+        SpeedLimitDataManager.getInstance().start()
+        aiCloudIdentifyDataManager.init(AbsMogoApplication.getApp())
+    }
+
+    override fun onDestroy() {
+
+    }
+
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt

@@ -0,0 +1,298 @@
+package com.mogo.eagle.core.function.angle
+
+import android.content.*
+import android.os.*
+import android.util.*
+import androidx.lifecycle.*
+import androidx.lifecycle.Lifecycle.Event
+import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.eagle.core.data.config.*
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.map.*
+import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
+import com.mogo.eagle.core.function.api.map.angle.*
+import com.mogo.eagle.core.function.api.map.angle.Scene
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
+import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.mogo.*
+import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.zhidaoauto.map.sdk.open.tools.*
+import kotlinx.coroutines.*
+import kotlinx.coroutines.android.*
+import java.util.*
+import java.util.concurrent.atomic.*
+
+@Route(path = MogoServicePaths.PATH_VISUAL_ANGLE)
+class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
+
+    companion object {
+        private const val TAG = "VisualAngleChange"
+    }
+
+    private val triggerLocation = AtomicReference<MogoLocation>()
+
+    private val distanceOfCarToStopLine = AtomicReference(0.0)
+
+    private val travelled by lazy { AtomicReference(0.0) }
+
+    /**
+     * 业务实体，不对外暴露
+     * @param target: 目标场景
+     * @param isDisplay: 是否正在展示
+     * @param triggerTime: 触发时间
+     */
+    private data class Record(val target: Scene, var isDisplay: Boolean = false, var triggerTime: Long): Comparable<Record> {
+        override fun compareTo(other: Record): Int {
+            //如果时间一样，优先级越高，越靠近堆顶
+            return other.target.priority - target.priority
+        }
+    }
+
+    private val queue by lazy {
+        PriorityQueue<Record>()
+    }
+
+    private val listener = object : OnRoadListener {
+        private val roadId = AtomicReference<String>()
+        private val triggerRoadId = AtomicReference<String>()
+
+        override fun onRoadIdInfo(roadId: String) {
+            this.roadId.set(roadId)
+            Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
+            val loc = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+            var triggerClose = false
+            val distance = distanceOfCarToStopLine.get() +  5
+            if (hasCrossRoad && distance > 0) {
+                val prev = triggerLocation.get()
+                if (prev != null && loc != null) {
+                    travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
+                    triggerLocation.set(loc)
+                }
+                val oldRoadId = triggerRoadId.get()
+                Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
+                if ((travelled.get() > distance) && oldRoadId != null && oldRoadId != roadId) {
+                    distanceOfCarToStopLine.set(0.0)
+                    hasCrossRoad = false
+                    triggerRoadId.set(null)
+                    travelled.set(0.0)
+                    triggerLocation.set(null)
+                    Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
+                    triggerClose = true
+                }
+            }
+            if (triggerClose) {
+                changeAngle(CrossRoad(false))
+            }
+        }
+
+
+        override fun onStopLineInfo(info: StopLine) {
+            Log.d(TAG, "-- onStopLineInfo --: ${info.distanceOfCarToStopLine}")
+            if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
+                hasCrossRoad = true
+                triggerRoadId.set(this.roadId.get())
+                distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
+                triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
+                changeAngle(CrossRoad(true))
+            }
+        }
+    }
+
+    override fun init(context: Context?) {
+        if (Thread.currentThread() != Looper.getMainLooper().thread) {
+            scope.launch {
+                initListen(context)
+            }
+        } else {
+            initListen(context)
+        }
+    }
+
+    private fun initListen(ctx: Context?) {
+        ctx ?: return
+        ctx.lifeCycleOwner.lifecycle.addObserver(object : LifecycleEventObserver {
+            override fun onStateChanged(source: LifecycleOwner, event: Event) {
+                if (event == ON_DESTROY) {
+                    CallerMapRoadListenerManager.unRegisterRoadListener("VisualAngleChange")
+                }
+            }
+        })
+        CallerMapRoadListenerManager.registerRoadListener("VisualAngleChange", listener)
+    }
+
+    @Volatile
+    private var hasCrossRoad = false
+
+
+    private var scope: CoroutineScope = acquireScope()
+        @Synchronized
+        get() {
+            if (field.isActive) {
+                return field
+            }
+            val scope = acquireScope()
+            field = scope
+            return field
+        }
+
+    private var defaultDelayJob: Job? = null
+
+    private fun acquireScope(): CoroutineScope {
+        return CoroutineScope(Handler(Looper.getMainLooper()).asCoroutineDispatcher("change-visual-angle") + SupervisorJob())
+    }
+
+    @Volatile
+    private var mLevel:Boolean = false
+
+    override fun updateLongSightLevel(level:Boolean){
+        mLevel = level
+    }
+
+    override fun changeAngle(scene: Scene) {
+        val appIdentityMode = FunctionBuildConfig.appIdentityMode
+        if (AppIdentityModeUtils.isBus(appIdentityMode) && AppIdentityModeUtils.isPassenger(appIdentityMode)) {
+            return
+        }
+        if(mLevel){
+            return
+        }
+        val triggerTime = SystemClock.elapsedRealtime()
+        scope.launch {
+            Log.d(TAG, "--- 1 ---")
+            val displayed = getDisplayed()
+            if (displayed == null) {
+                Log.d(TAG, "--- 2 ---")
+                if (scene is Turning) {
+                    if (!scene.open) {
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (scene is CrossRoad) {
+                    if (!scene.open) {
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                doRealVisualAngleChange(triggerTime, scene, null)
+            } else {
+                val prev = displayed.target
+                Log.d(TAG, "--- 3 --- old: $prev -> cur: $scene")
+                val prevTriggerTime = displayed.triggerTime
+                if (scene !is Default && prev.priority > scene.priority && (prev is RoadEvent || prev is TooClose)) {
+                    val displayDuration = triggerTime - prevTriggerTime
+                    Log.d(TAG, "--- 4 ---:场景[$prev], 已展示时长: duration: $displayDuration")
+                    if (displayDuration < prev.displayThreshold) {
+                        Log.d(TAG, "--- 5 --- 场景[$prev]:仍在保护展示时长内，直接return")
+                        return@launch
+                    } else {
+                        Log.d(TAG, "--- 6 --- 场景[$prev]:已过保护展示时长，从展示的队列中移除，显示默认视角")
+                        queue -= displayed
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (prev is Turning && scene is Turning) {
+                    val isOpen = scene.open
+                    if (!isOpen) {
+                        Log.d(TAG, "--- 7 --- 场景[$scene], 收到关闭通知")
+                        queue -= displayed
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (prev is CrossRoad && scene is CrossRoad) {
+                    val isOpen = scene.open
+                    if (!isOpen) {
+                        Log.d(TAG, "--- 8 --- old: $prev -> cur: $scene")
+                        queue -= displayed
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (prev.priority == scene.priority) {
+                    Log.d(TAG, "--- 9 --- 场景[$prev]正在展示，尚未收到关闭，优先级一致，直接return")
+                    return@launch
+                }
+                if (prev.priority > scene.priority && prev.displayThreshold < 0) {
+                    Log.d(TAG, "--- 10 --- 场景[$prev]正在展示，尚未收到关闭，场景，依然展示当前场景，直接return")
+                    return@launch
+                }
+                doRealVisualAngleChange(triggerTime, scene, displayed)
+            }
+        }
+    }
+
+    private fun CoroutineScope.doRealVisualAngleChange(triggerTime: Long, target: Scene, displayed: Record? = null) {
+        if (target is Default) {
+            Log.d(TAG, "--- doRealVisualAngleChange --- 1 ---")
+            displayed?.also {
+                queue -= it
+            }
+            defaultDelayJob?.safeCancel()
+            launch {
+                val delay = target.unit.toMillis(target.delay)
+                Log.d(TAG, "--- doRealVisualAngleChange --- 2 ---")
+                delay(delay)
+                Log.d(TAG, "--- doRealVisualAngleChange --- 3 ---")
+                doChangeAngle(Record(target, triggerTime = triggerTime))
+            }.also { itx ->
+                itx.invokeOnCompletion {
+                    if (it is CancellationException) {
+                        Log.d(TAG, "--- doRealVisualAngleChange --- 4 ---")
+                    }
+                }
+                defaultDelayJob = itx
+            }
+        } else {
+            Log.d(TAG, "--- doRealVisualAngleChange --- 5 ---")
+            defaultDelayJob?.safeCancel()
+            if (displayed == null || displayed.target.priority <= target.priority) {
+                Log.d(TAG, "--- doRealVisualAngleChange --- 6 ---")
+                displayed?.also {
+                    queue -= it
+                }
+                if (target is Turning) {
+                    if (!target.open) {
+                        Log.d(TAG, "--- doRealVisualAngleChange --- 7 ---")
+                        changeAngle(Default())
+                        return
+                    }
+                }
+                if (target is CrossRoad) {
+                    if (!target.open) {
+                        Log.d(TAG, "--- doRealVisualAngleChange --- 8 ---")
+                        changeAngle(Default())
+                        return
+                    }
+                }
+                Log.d(TAG, "--- doRealVisualAngleChange --- 10 ---")
+                doChangeAngle(Record(target, triggerTime = triggerTime))
+            }
+        }
+    }
+
+    @OptIn(InternalCoroutinesApi::class)
+    private fun doChangeAngle(record: Record) {
+        val angle = record.target.angle
+        CallerMapUIServiceManager.getMapUIController()?.also {
+            Log.d(TAG, "--- doChangeAngle ---： ${record.target}")
+            if (record.target !is Default) {
+                record.isDisplay = true
+                kotlinx.coroutines.internal.synchronized(queue) {
+                    queue += record
+                }
+            }
+            it.changeMapVisualAngle(angle, null)
+        }
+    }
+
+    /**
+     * 是否有正在展示的
+     */
+    @Synchronized
+    private fun getDisplayed() = queue.firstOrNull()
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java

@@ -0,0 +1,75 @@
+package com.mogo.eagle.core.function.business;
+
+import androidx.annotation.Nullable;
+
+import com.mogo.eagle.core.data.enums.DataSourceType;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+
+import java.util.Objects;
+import java.util.Timer;
+import java.util.TimerTask;
+
+/**
+ * 限速
+ *
+ * @author mogoauto
+ */
+public class SpeedLimitDataManager implements IMoGoChassisLocationWGS84Listener {
+
+    private final static String TAG = "SpeedLimitDataManager";
+    private static volatile SpeedLimitDataManager instance;
+    private volatile MogoLocation mLocation;
+
+    private SpeedLimitDataManager() {
+    }
+
+    public static SpeedLimitDataManager getInstance() {
+        if (instance == null) {
+            synchronized (SpeedLimitDataManager.class) {
+                if (instance == null) {
+                    instance = new SpeedLimitDataManager();
+                }
+            }
+        }
+        return instance;
+    }
+
+    @Override
+    public void onChassisLocationWGS84(@Nullable MogoLocation gnssInfo) {
+        mLocation = gnssInfo;
+    }
+
+    private class SpeedTimerTask extends TimerTask {
+        @Override
+        public void run() {
+            if (mLocation != null) {
+                if (CallerMapUIServiceManager.INSTANCE.getMapUIController() != null) {
+                    getSpeedLimit();
+                }
+            }
+        }
+
+        private void getSpeedLimit() {
+            int speedLimit = Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).getLimitSpeed(mLocation.getLongitude(), mLocation.getLatitude(), (float) mLocation.getHeading());
+            UiThreadHandler.post(() -> {
+                if (speedLimit > 0) {
+                    CallerLimitingVelocityListenerManager.INSTANCE.invokeUnion(speedLimit, DataSourceType.MAP);
+                }
+            });
+        }
+    }
+
+    public void start() {
+        CallerChassisLocationWGS84ListenerManager.INSTANCE.addListener(TAG, this);
+        Timer mTimer = new Timer();
+        mTimer.schedule(new SpeedTimerTask(), 3000, 1000);
+    }
+
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt

@@ -4,18 +4,12 @@ import android.content.Context
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
-import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
-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.Companion.M_MAP
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
-import com.mogo.module.common.MogoApisHandler
-import com.zhjt.service.chain.ChainLog
-import com.zhjt.service.chain.TracingConstants
 import mogo.yycp.api.proto.SocketDownData
 
 class AiCloudIdentifyDataManager : IMogoMapListener {
@@ -36,7 +30,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener {
     private var showAiCloud = false
 
     fun init(mContext: Context) {
-        MogoApisHandler.getInstance().apis.registerCenterApi.registerMogoMapListener(TAG, this)
         MogoAiCloudSocketManager.getInstance(mContext)
             .registerOnMessageListener(
                 0x040003, //低频数据
@@ -45,16 +38,8 @@ class AiCloudIdentifyDataManager : IMogoMapListener {
                         return SocketDownData.SocketDownDataProto::class.java
                     }
 
-                    @ChainLog(
-                        linkChainLog = ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
-                        linkCode = ChainConstant.CHAIN_LINK_ADAS,
-                        endpoint = TracingConstants.Endpoint.PAD,
-                        nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
-                        paramIndexes = [0],
-                        clientPkFileName = "sn"
-                    )
                     override fun onMsgReceived(obj: SocketDownData.SocketDownDataProto?) {
-                        if(!FunctionBuildConfig.isDrawAiCloudFusion){
+                        if (!FunctionBuildConfig.isDrawAiCloudFusion) {
                             MapIdentifySubscriber.instance.clearAiCloudRoma()
                             return
                         }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.business.ai.net
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.HostConst
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
@@ -27,7 +28,7 @@ class AiCloudIdentifyNetWorkModel {
         return host
     }
 
-    private fun getNetWorkApi(baseUrl: String = getHost()): IAiCloudIdentifyApiService {
+    private fun getNetWorkApi(baseUrl: String = HostConst.getEagleHost()): IAiCloudIdentifyApiService {
         return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
             .create(IAiCloudIdentifyApiService::class.java)
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt

@@ -8,6 +8,6 @@ import retrofit2.http.POST
 interface IAiCloudIdentifyApiService {
 
     @Headers("Content-type:application/json;charset=UTF-8")
-    @POST("yycp-c-v2x-service/dataFusion/remoteDrivingSet")
+    @POST("eagle-eye-dns/yycp-c-v2x-service/dataFusion/remoteDrivingSet")
     suspend fun identifyRange(@Body map: MutableMap<String, Any>): BaseResponse<Any>
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt

@@ -6,22 +6,28 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.zhidaoauto.map.operational.open.GatherApi
 import com.zhidaoauto.map.operational.open.GatherParams
 import com.zhidaoauto.map.operational.open.abs.OnTaskListener
+import record_cache.RecordPanelOuterClass
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.CopyOnWriteArrayList
 import java.util.concurrent.atomic.AtomicReference
 
 @Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
-class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback {
+class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
+    IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
+    IMoGoAutopilotRecordListener {
 
     companion object {
         const val TAG = "MoGoMapDataCollect"
@@ -39,20 +45,26 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
         ConcurrentHashMap()
     }
 
-    override val functionName: String = "$M_MAP$TAG"
+    override val functionName: String = TAG
 
     @Volatile
     private var hasInit = false
 
     override fun init(context: Context?) {
-        CallerMapLocationListenerManager.addListener(functionName, this, false)
+
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+        CallerAutopilotRecordListenerManager.addListener(TAG, this)
+
         executor.set(context?.let {
             GatherApi.also { itx ->
-            itx.init(it,
-                GatherParams.init()
-                    .setDebugMode(false)
-                    .setCoordinateType(GatherParams.COORDINATETYPE_GCJ02))
-        } })
+                itx.init(
+                    it,
+                    GatherParams.init()
+                        .setDebugMode(false)
+                        .setCoordinateType(GatherParams.COORDINATETYPE_GCJ02)
+                )
+            }
+        })
         executor.get()?.setOnTaskListener(this)
         val carSn = MoGoAiCloudClientConfig.getInstance().sn
         if (!TextUtils.isEmpty(carSn)) {
@@ -60,17 +72,37 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
         }
         MoGoAiCloudClient.getInstance().addTokenCallbacks(this)
         CallerLogger.d("$M_MAP$TAG", "--------- init --------")
-        CallerLogger.d("$M_MAP$TAG", "executor: ${ executor.get()?.hashCode() ?: 0 }")
+        CallerLogger.d("$M_MAP$TAG", "executor: ${executor.get()?.hashCode() ?: 0}")
     }
 
     override fun onDestroy() {
-        CallerMapLocationListenerManager.removeListener("$M_MAP$TAG", false)
         CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        CallerAutopilotRecordListenerManager.removeListener(TAG)
         executor.get()?.setOnTaskListener(null)
         listeners.clear()
         map.clear()
     }
 
+    override fun onAutopilotRecordResult(recordPanel: RecordPanelOuterClass.RecordPanel) {
+        super.onAutopilotRecordResult(recordPanel)
+        CallerLogger.d("$M_MAP$TAG", "recordKey=${recordPanel.key},stat=${recordPanel.stat}")
+        if (!FunctionBuildConfig.isDemoMode && recordPanel.type == 2 && (
+                    recordPanel.stat == 101 || //工控机采集完成-被动完成
+                            recordPanel.stat == 100 || //工控机采集完成-主动完成
+                            recordPanel.stat == 102 || //工控机达到最大采集时长
+                            recordPanel.stat == 103)   //工控机磁盘满了
+        ) {
+            finish(
+                recordPanel.id,
+                recordPanel.stat,
+                "",
+                recordPanel.filename ?: "",
+                recordPanel.note ?: ""
+            )
+        }
+    }
+
     override fun registerOnMapCollectTaskListener(listener: IMoGoMapDataCollectProvider.OnMapCollectCmdListener?) {
         CallerLogger.d("$M_MAP$TAG", "--------- registerOnMapCollectTaskListener --------")
         listener ?: return
@@ -108,7 +140,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
             }
             CallerLogger.d("$M_MAP$TAG", "-- finish: 结束任务[$id]")
             executor.get()?.finishTask(id, state, gpsPath, videoPath, reason)
-        } catch (e : Throwable) {
+        } catch (e: Throwable) {
             e.printStackTrace()
             CallerLogger.e("$M_MAP$TAG", "-- finish:\n$e")
         } finally {
@@ -147,18 +179,19 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
         }
     }
 
-    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-        location ?: return
-        executor.get()?.updateLocation(
-                location.longitude,
-                location.latitude,
-            location.altitude,
-            location.bearing,
-            location.speed,
-            isGps)
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
+        if (gnssInfo != null) {
+            executor.get()?.updateLocation(
+                gnssInfo.longitude,
+                gnssInfo.latitude,
+                gnssInfo.altitude,
+                gnssInfo.heading.toFloat(),
+                gnssInfo.gnssSpeed,
+                false
+            )
+        }
     }
 
-
     private fun isInValidStatus(): Boolean {
         if (map.isEmpty()) {
             return true

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/CircleQueue.java

@@ -24,18 +24,10 @@ public class CircleQueue {
         objQueue.add(obj);
     }
 
-    public void deleteObj(ObjQueue obj) {
-        objQueue.remove(obj);
-    }
-
     public List<ObjQueue> getLastThreeFrame() {
         return objQueue.subList(objQueue.size() - 3, objQueue.size());
     }
 
-    public List<ObjQueue> getLastFiveFrame() {
-        return objQueue.subList(objQueue.size() - 5, objQueue.size());
-    }
-
     public List<ObjQueue> getPreFrame() {
         return objQueue.subList(0, objQueue.size());
     }
@@ -44,6 +36,10 @@ public class CircleQueue {
         return objQueue.lastElement();
     }
 
+    public void clear(){
+        objQueue.clear();
+    }
+
     @Override
     public String toString() {
         return "CircleQueue{" +

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt

@@ -7,15 +7,15 @@ import mogo.yycp.api.proto.SocketDownData
 
 interface Identify {
 
-    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?){
+    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
 
     }
 
-    fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>){
+    fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>) {
 
     }
 
-    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?){
+    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
 
     }
 
@@ -23,15 +23,15 @@ interface Identify {
 
     }
 
-    fun clearOldMarker(){
+    fun clearOldMarker() {
 
     }
 
-    fun clearAiMarker(){
+    fun clearAiMarker() {
 
     }
 
-    fun getIdentifyObj(uuid: String):TrackedObject?{
+    fun getIdentifyObj(uuid: String): TrackedObject? {
         return null
     }
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt

@@ -6,8 +6,8 @@ import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.mogo.map.MogoMarkerManager
-import java.util.concurrent.ConcurrentHashMap
 import mogo.yycp.api.proto.SocketDownData
+import java.util.concurrent.ConcurrentHashMap
 
 class IdentifyAiCloudDataDrawer : Identify {
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt

@@ -4,8 +4,8 @@ import android.os.Handler
 import android.os.Message
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.traffic.TrafficData
-import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
-import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
+import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -37,7 +37,7 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
             DriverIdentify.originDataDrawer
         }
         aiCloudIdentify = AiIdentify.aiCloudDataDrawer
-        CallerObuListenerManager.addListener(TAG, this)
+        CallerObuWarningListenerManager.addListener(TAG, this)
     }
 
     private const val MSG_DATA_TRACK = 0

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt

@@ -102,7 +102,6 @@ class IdentifyOriginDataDrawer : Identify {
     @SuppressLint("NewApi")
     private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String, TrackedObject> {
         mFilterTrafficData.clear()
-        trafficDataUuidList.clear()
         for (data in trafficData) {
             // 过滤掉未知感知数据
             if (TrackerSourceColorHelper.filterData(data)) {
@@ -110,13 +109,12 @@ class IdentifyOriginDataDrawer : Identify {
             }
             var temp: TrackedObject = data
             val uuid = "" + data.uuid
-            //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
                 val color = TrackerSourceColorHelper.getDefaultColor(data)
                 temp = data.toBuilder().setColor(color).build()
-                mFilterTrafficData[uuid] = temp
             }
+            mFilterTrafficData[uuid] = temp
             mMarkersCaches[uuid] = temp
             trafficDataUuidList.add(uuid)
         }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt

@@ -4,11 +4,13 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
+import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
-import com.mogo.eagle.core.function.business.identify.IdentifyFactory.AiIdentify.aiCloudDataDrawer
+import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -22,7 +24,7 @@ import mogo.yycp.api.proto.SocketDownData
  */
 @Route(path = PATH_IDENTIFY)
 class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGoSubscriber,
-    IMoGoAutopilotIdentifyListener {
+    IMoGoAutopilotIdentifyListener, IMoGoObuStatusListener {
 
     private val TAG = "MapIdentifySubscriber"
 
@@ -38,11 +40,12 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
 
     override fun onCrate() {
         CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
-
+        CallerObuWarningListenerManager.addListener(TAG, this)
     }
 
     override fun onDestroy() {
         CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        CallerObuWarningListenerManager.removeListener(TAG)
     }
 
     override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
@@ -63,7 +66,6 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
         try {
             if (FunctionBuildConfig.isDrawAiCloudFusion) {
                 ThreadUtils.getSinglePool().execute {
-//                    aiCloudDataDrawer.renderAiCloudResult(cloudData)
                     IdentifyFactory.renderAiCloudResult(cloudData)
                 }
             } else {
@@ -75,7 +77,6 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
     }
 
     fun clearAiCloudRoma() {
-//        aiCloudDataDrawer.clearAiMarker()
         IdentifyFactory.clearAiMarker()
     }
 
@@ -93,6 +94,32 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
         }
     }
 
+    override fun updateTrackerWarningInfo(trafficData: TrafficData) {
+        super.updateTrackerWarningInfo(trafficData)
+        try {
+            if (FunctionBuildConfig.isObuWarningFusionUnion) {
+                ThreadUtils.getSinglePool().execute {
+                    IdentifyFactory.renderOBUWarningObj(true, trafficData)
+                }
+            } else {
+                IdentifyFactory.renderOBUWarningObj(false, trafficData)
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun removeTrackerWarningInfo(trafficData: TrafficData) {
+        super.removeTrackerWarningInfo(trafficData)
+        try {
+            ThreadUtils.getSinglePool().execute {
+                IdentifyFactory.renderOBUWarningObj(false, trafficData)
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
     override fun getIdentifyObj(uuid: String): TrackedObject? {
         return IdentifyFactory.getIdentifyObj(uuid)
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java

@@ -2,6 +2,8 @@ package com.mogo.eagle.core.function.business.identify;
 
 import android.annotation.SuppressLint;
 import android.os.Build;
+import android.util.ArraySet;
+import android.util.Log;
 
 import androidx.annotation.RequiresApi;
 
@@ -50,7 +52,7 @@ public class TrackManager {
      * 记录每次实际绘制的交通元素UUID
      */
     @SuppressLint("NewApi")
-    private final HashMap<String, Long> trafficDataUuid = new HashMap<>();
+    private final ArraySet<String> trafficDataUuid = new ArraySet<>();
 
     /**
      * 过滤后的数据集合
@@ -71,9 +73,10 @@ public class TrackManager {
      * 过滤后的数据集合
      */
     @SuppressLint("NewApi")
-    public synchronized HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
+    public HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
         //清空上次返回数据，做到缓存复用
         mFilterTrafficData.clear();
+        long cost = System.currentTimeMillis();
         //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
         for (MessagePad.TrackedObject data : trafficData) {
             if (TrackerSourceColorHelper.INSTANCE.filterData(data)) {
@@ -101,7 +104,7 @@ public class TrackManager {
                         trackObj = cacheTrack;
                         MessagePad.TrackedObject cache = cacheTrack.getCache();
                         if (cache != null) {
-                            //相对静止物体并且非obu数据，则不改变，为感知融合同位置物体，使用缓存数据做覆盖
+                            //相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
                             if (cacheTrack.relativeStatic()) {
                                 if (data.getColor() != null && !data.getColor().isEmpty()) {
                                     cache = cache.toBuilder().setColor(data.getColor()).build();
@@ -112,55 +115,60 @@ public class TrackManager {
                         uuid = findSameValue;
                         trackObj.updateObj(data);
                     } else {
-                        trackObj = new TrackObj(data);
+                        trackObj = new TrackObj(data,s2CellId,s2LatLng);
                     }
                 } else {
-                    trackObj = new TrackObj(data);
+                    trackObj = new TrackObj(data,s2CellId,s2LatLng);
                 }
             }
             mFilterTrafficData.put(uuid, trackObj.getCache());
             cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
             mMarkersCaches.put(uuid, trackObj);
-            trafficDataUuid.put(uuid, System.currentTimeMillis());
+            trafficDataUuid.add(uuid);
+            //Log.i("costTime","" + (System.currentTimeMillis() - cost));
         }
         return mFilterTrafficData;
     }
 
-    @RequiresApi(api = Build.VERSION_CODES.N)
     public void clearCache(List<MessagePad.TrackedObject> resultList) {
         //过滤现有元素
         for (MessagePad.TrackedObject data : resultList) {
             String uuid = "" + data.getUuid();
-            if (TrackerSourceColorHelper.INSTANCE.filterData(data)) {
-                continue;
-            }
-            if (trafficDataUuid.size() > 0) {
+            if (trafficDataUuid.size() > 0 && trafficDataUuid.contains(uuid)) {
+                if (TrackerSourceColorHelper.INSTANCE.filterData(data)) {
+                    continue;
+                }
                 trafficDataUuid.remove(uuid);
             }
         }
 
         //清除缓存,删除marker
-        Iterator<Map.Entry<String, Long>> it = trafficDataUuid.entrySet().iterator();
+        Iterator<String> it = trafficDataUuid.iterator();
         while (it.hasNext()) {
-            Map.Entry<String, Long> next = it.next();
-            String key = next.getKey();
+            String key = it.next();
             it.remove();
             removeKey(key);
         }
     }
 
-    public synchronized void removeKey(String key) {
-        mMarkersCaches.remove(key);
+    public void removeKey(String key) {
         cellIdCaches.remove(key);
+        mMarkersCaches.remove(key);
+        WarningHelper.INSTANCE.remove(key);
         MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
                 .removeMarker(key);
     }
 
-    @SuppressLint("NewApi")
     public void clearAll() {
+        cellIdCaches.clear();
         trafficDataUuid.clear();
         WarningHelper.INSTANCE.clear();
-        mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
+        mMarkersCaches.forEach((uuid, trackObj) -> {
+            trackObj.clear();
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                    .removeMarker(uuid);
+        });
+        mMarkersCaches.clear();
     }
 
     public MessagePad.TrackedObject getIdentifyObj(String uuid) {

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java

@@ -4,12 +4,10 @@ import static com.mogo.eagle.core.function.business.identify.TrackManager.LIMIT_
 
 import android.annotation.SuppressLint;
 
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
-import com.mogo.eagle.core.data.map.CenterLine;
-import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 
 import java.util.Arrays;
 import java.util.Comparator;
@@ -22,20 +20,18 @@ public class TrackObj {
     private final CircleQueue circleQueue = new CircleQueue(6);
     private S2CellId s2CellId; //s2 id权重
     private S2LatLng s2LatLng; //s2 经纬度
-    private double recentlyTime;  //用于缓存帧数判断，暂定缓存1秒数据，中间如果有物体未出现，1秒后删除
-//    private int[] typeArray = new int[3];
-//    private int typeWeight;   //类型权重
+    private int[] typeArray = new int[3];
+    private int typeWeight;   //类型权重
     private double lat;
     private double lon;
     private double speedAverage;
 
-    public TrackObj(MessagePad.TrackedObject data) {
+    public TrackObj(MessagePad.TrackedObject data, S2CellId cellId, S2LatLng latLng) {
         circleQueue.addQueue(new ObjQueue(data.getHeading(), data.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
-        recentlyTime = data.getSatelliteTime();
         lat = data.getLatitude();
         lon = data.getLongitude();
-        s2LatLng = S2LatLng.fromDegrees(data.getLatitude(), data.getLongitude());
-        s2CellId = S2CellId.fromLatLng(s2LatLng).parent(22); //需要验证22前后
+        s2LatLng = latLng;
+        s2CellId = cellId; //需要验证22前后
     }
 
     private MessagePad.TrackedObject cacheData;
@@ -44,14 +40,12 @@ public class TrackObj {
     public void updateObj(MessagePad.TrackedObject data) {
         cacheData = data;
         correct();
-        recentlyTime = data.getSatelliteTime();
         circleQueue.addQueue(new ObjQueue(cacheData.getHeading(), cacheData.getSpeed(), data.getLatitude(), data.getLongitude(), data.getType()));
     }
 
     private void correct() {
         calAverageSpeedAndType();
         calLoc();
-//        calHeading();
     }
 
     @SuppressLint("NewApi")
@@ -62,20 +56,22 @@ public class TrackObj {
             objQueueList.sort(Comparator.comparing(ObjQueue::getSpeed));
             speedAverage = objQueueList.get(1).getSpeed();
             //计算类型
-//            typeArray[0] = objQueueList.get(0).getType();
-//            typeArray[1] = objQueueList.get(1).getType();
-//            typeArray[2] = objQueueList.get(2).getType();
+            typeArray[0] = objQueueList.get(0).getType();
+            typeArray[1] = objQueueList.get(1).getType();
+            typeArray[2] = objQueueList.get(2).getType();
         } else {
             double cal = 0;
             List<ObjQueue> objQueueList = circleQueue.getPreFrame();
             for (int i = 0; i < objQueueList.size() - 1; i++) {
                 cal += objQueueList.get(i).getSpeed();
-//                typeArray[i] = objQueueList.get(i).getType();
+                typeArray[i] = objQueueList.get(i).getType();
             }
             speedAverage = cal / objQueueList.size();
         }
-//        typeArray = Arrays.stream(typeArray).sorted().toArray();
-//        typeWeight = typeArray[typeArray.length / 2] == 0 ? cacheData.getType() : typeArray[typeArray.length / 2];
+        if(typeArray.length > 0){
+            typeArray = Arrays.stream(typeArray).sorted().toArray();
+            typeWeight = typeArray[typeArray.length / 2] == 0 ? cacheData.getType() : typeArray[typeArray.length / 2];
+        }
 
         // 重新给静止物体赋值速度
         if (relativeStatic()) {
@@ -99,26 +95,6 @@ public class TrackObj {
         }
     }
 
-    private void calHeading() {
-        //更正数据,速度小于LIMIT_SPEED使用上一帧数据
-//        if (relativeStatic()) {
-//            if (roadAngle != 0.0) {
-//                CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
-//                if (centerLine != null && centerLine.getAngle() != 0) {
-//                    cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
-//                } else {
-//                    cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
-//                }
-//            } else {
-//                cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
-//            }
-//        }
-    }
-
-    public double getRecentlyTime() {
-        return recentlyTime;
-    }
-
     public long getCellIdPos() {
         return s2CellId.pos();
     }
@@ -161,12 +137,6 @@ public class TrackObj {
         }
     }
 
-//    public boolean isFourWheelType() {
-//        return typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.getType()
-//                && typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.getType()
-//                && typeWeight != TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.getType();
-//    }
-
     private double[] getCenterPoint(List<ObjQueue> objQueueList) {
         int total = objQueueList.size();
         double X = 0, Y = 0, Z = 0;
@@ -196,12 +166,18 @@ public class TrackObj {
         return d;
     }
 
+    public void clear(){
+        circleQueue.clear();
+        s2CellId = null;
+        s2LatLng = null;
+        typeArray = null;
+    }
+
     @Override
     public String toString() {
         return "TrackObj{" +
                 "circleQueue=" + circleQueue +
                 ", s2CellId=" + s2CellId +
-                ", recentlyTime=" + recentlyTime +
                 ", cacheData=" + cacheData +
                 '}';
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt

@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.business.identify
 import android.annotation.SuppressLint
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import mogo.telematics.pad.MessagePad.*
 
 object TrackerSourceColorHelper {
@@ -46,9 +47,9 @@ object TrackerSourceColorHelper {
             return ""
         }
 
-        if (isV2I(data).second) {
-            color = "#00AEFFFF"
-        }
+//        if (isV2I(data).second) {
+//            color = "#00AEFFFF"
+//        }
 
         //level : 2
         if (isObu(data).second) {
@@ -62,9 +63,14 @@ object TrackerSourceColorHelper {
             }
         }
 
-        //融合结果 level : 1
-        if (isFusion(data)) {
-            color = "#9900ffFF"
+        //僵尸车
+        if(data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE){
+            color = "#AD7488FF"
+            CallerMapUIServiceManager.getMapUIController()?.let {
+                if(it.isDayMode){
+                    color = "#AE7887FF"
+                }
+            }
         }
 
         // pnc预警

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt

@@ -139,6 +139,12 @@ object WarningHelper {
         }
     }
 
+    fun remove(key:String){
+        pncWarningBeautyTrafficData.remove(key)
+        pncWarningOriginTrafficData.remove(key)
+        obuWarningTrafficData.remove(key)
+    }
+
     fun clear() {
         pncWarningBeautyTrafficData.clear()
         pncWarningOriginTrafficData.clear()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java

@@ -1,18 +1,21 @@
 package com.mogo.eagle.core.function.business.routeoverlay;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.config.HdMapBuildConfig;
 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.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager;
+
 import org.jetbrains.annotations.NotNull;
+
 import java.util.LinkedList;
 import java.util.List;
 import java.util.concurrent.atomic.AtomicBoolean;
@@ -23,7 +26,9 @@ import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
 
 public class MogoRouteOverlayManager implements
-        IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener, IMoGoMapLocationListener {
+        IMoGoPlanningTrajectoryListener,
+        IMoGoAutopilotStatusListener,
+        IMoGoChassisLocationGCJ02Listener {
     private static volatile MogoRouteOverlayManager sInstance;
     private static final String TAG = "Route";
 
@@ -32,13 +37,14 @@ public class MogoRouteOverlayManager implements
 
     private final LinkedList<List<MessagePad.TrajectoryPoint>> queue = new LinkedList<>();
 
-    private MogoRouteOverlayManager() {}
+    private MogoRouteOverlayManager() {
+    }
 
 
     public void init() {
-        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
+        CallerPlanningTrajectoryListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 20,this);
     }
 
     public static MogoRouteOverlayManager getInstance() {
@@ -61,8 +67,8 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
-        if (from != 1 || location == null) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
+        if (gnssInfo == null) {
             return;
         }
         if (isArriveAtStation.get() && autopilotMode.get() != 1) {
@@ -78,16 +84,12 @@ public class MogoRouteOverlayManager implements
             if (!queue.isEmpty()) {
                 List<MessagePad.TrajectoryPoint> items = queue.pollLast();
                 if (items != null && !items.isEmpty()) {
-                    RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
+                    RouteOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading());
                 }
             }
         }
     }
 
-    @Override
-    public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {}
-
-
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
         int mode = autoPilotStatusInfo.getPilotmode();
@@ -102,6 +104,9 @@ public class MogoRouteOverlayManager implements
         if (arrivalNotification == null) {
             return;
         }
+        if(!HdMapBuildConfig.isMapLoaded){
+            return;
+        }
         if (!isArriveAtStation.get()) {
             isArriveAtStation.set(true);
         }
@@ -123,7 +128,8 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {}
+    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
+    }
 
     @Override
     public void onAutopilotRouteLineId(long lineId) {

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java

@@ -5,16 +5,20 @@ import android.graphics.Color;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.util.Log;
+
 import androidx.core.util.Pools;
+
 import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
 import com.mogo.map.MogoOverlayManager;
 import com.mogo.map.overlay.IMogoOverlayManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
-import com.mogo.commons.utils.DrivingDirectionUtils;
+
 import java.util.LinkedList;
 import java.util.List;
+
 import mogo.telematics.pad.MessagePad;
 
 public class RouteOverlayDrawer {
@@ -128,8 +132,8 @@ public class RouteOverlayDrawer {
                     pps.add(acquire);
                     RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration(), routeList.size());
                 }
-                double lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                double lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+                double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
                 if (points.size() > 0) {
                     MogoLatLng top = null;
                     while (points.size() != 0) {
@@ -140,8 +144,8 @@ public class RouteOverlayDrawer {
                         if (first == top) {
                             break;
                         }
-                        lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                        lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                        lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+                        lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
                         long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
                         if (angle >= 90) {
                             RouteStrategy.INSTANCE.remove(first.acc);

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt

@@ -1,16 +1,17 @@
 package com.mogo.eagle.core.function.business.routeoverlay
 
-import android.animation.*
-import android.graphics.*
-import android.view.animation.*
-import com.mogo.eagle.core.data.config.*
-import com.mogo.eagle.core.utilcode.mogo.*
+import android.animation.ArgbEvaluator
+import android.graphics.Color
+import android.view.animation.AccelerateInterpolator
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE_DARK
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_RED_DARK
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_TRANSPARENT
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import java.util.*
-import kotlin.collections.ArrayList
+import kotlin.properties.Delegates
 
 
 interface IStrategy {
@@ -22,26 +23,31 @@ class Colors {
     companion object {
         val COLOR_BLUE = Color.parseColor("#FF2ABAD9")
         val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF")
-        val COLOR_RED_DARK  = Color.parseColor("#FFFF5F00")
-        val COLOR_TRANSPARENT  = Color.parseColor("#002ABAD9")
+        val COLOR_RED_DARK = Color.parseColor("#FFFF5F00")
+        val COLOR_TRANSPARENT = Color.parseColor("#002ABAD9")
     }
 }
 
-sealed class Strategy: IStrategy
+sealed class Strategy : IStrategy
 
-class DefaultStrategy(private val colors: List<Int>? = null): Strategy() {
+class DefaultStrategy(private val colors: List<Int>? = null) : Strategy() {
 
     override fun getColors(): List<Int> = colors ?: listOf(COLOR_BLUE, COLOR_TRANSPARENT)
 }
 
-class ColorfulStrategy(private val colors: List<Int> = emptyList(), var isLightOn: Boolean): Strategy() {
+class ColorfulStrategy(private val colors: List<Int> = emptyList(), var isLightOn: Boolean) :
+    Strategy() {
     override fun getColors(): List<Int> = colors
 }
 
 object RouteStrategy {
 
-    @Volatile
-    private var isEnable = !AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
+    private var isEnable by Delegates.observable(HmiBuildConfig.isShowRouteStrategy) { _, _, newValue ->
+        if (!newValue) {
+            strategy = null
+            colors.clear()
+        }
+    }
 
     private var strategy: Strategy? = null
 
@@ -57,14 +63,6 @@ object RouteStrategy {
 
     private var hasLessThan0 = false
 
-    fun enable(enable: Boolean) {
-        isEnable = enable
-        if (!enable) {
-            strategy = null
-            colors.clear()
-        }
-    }
-
     fun start() {
         if (sorted.isEmpty()) {
             fill()
@@ -89,7 +87,7 @@ object RouteStrategy {
     }
 
     fun check(speed: Double, acc: Double, total: Int) {
-        if (!isEnable){
+        if (!isEnable) {
             return
         }
         if (sorted.isEmpty()) {
@@ -112,7 +110,11 @@ object RouteStrategy {
                 } else {
                     if (endEvaluator != null) {
                         val fraction = (index - last) * 1.0f / delta
-                        colors += endEvaluator!!.evaluate(fraction, startColor, COLOR_TRANSPARENT) as Int
+                        colors += endEvaluator!!.evaluate(
+                            fraction,
+                            startColor,
+                            COLOR_TRANSPARENT
+                        ) as Int
                     }
                 }
             } else {
@@ -156,11 +158,14 @@ object RouteStrategy {
         total = endValue - startValue
         while (current <= endValue) {
             val fraction = (current - startValue) / total
-            val colorValue = evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int
+            val colorValue =
+                evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int
             sorted[current] = colorValue
             current += step
         }
     }
 
-   fun getStrategy(): Strategy = if (isEnable) { (strategy ?: DefaultStrategy()) } else DefaultStrategy()
+    fun getStrategy(): Strategy = if (isEnable) {
+        (strategy ?: DefaultStrategy())
+    } else DefaultStrategy()
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/MogoMapService.java

@@ -1,27 +1,19 @@
 package com.mogo.eagle.core.function.impl;
 
 import android.content.Context;
+
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.map.IMogoMapService;
 import com.mogo.eagle.core.function.api.map.marker.IMogoMarkerService;
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
-import com.mogo.map.MogoGeoSearch;
-import com.mogo.map.MogoLocationClient;
 import com.mogo.map.MogoMapUIController;
 import com.mogo.map.MogoMarkerManager;
 import com.mogo.map.MogoOverlayManager;
-import com.mogo.map.MogoPoiSearch;
-import com.mogo.map.MogoTrafficSearch;
-import com.mogo.map.listener.IMogoHosListenerRegister;
-import com.mogo.map.listener.MogoHosListenerRegister;
-import com.mogo.map.location.IMogoLocationClient;
+import com.mogo.map.location.GDLocationClient;
+import com.mogo.map.location.IMogoGDLocationClient;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.overlay.IMogoOverlayManager;
-import com.mogo.map.search.geo.IMogoGeoSearch;
-import com.mogo.map.search.poisearch.IMogoPoiSearch;
-import com.mogo.map.search.poisearch.query.MogoPoiSearchQuery;
-import com.mogo.map.search.traffic.IMogoTrafficSearch;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 
 /**
@@ -33,21 +25,6 @@ import com.mogo.map.uicontroller.IMogoMapUIController;
 @Route(path = MogoServicePaths.PATH_SERVICES_MAP)
 public class MogoMapService implements IMogoMapService {
 
-    @Override
-    public IMogoLocationClient getSingletonLocationClient(Context context) {
-        return MogoLocationClient.getInstance(context);
-    }
-
-    @Override
-    public IMogoGeoSearch getGeoSearch(Context context) {
-        return new MogoGeoSearch(context);
-    }
-
-    @Override
-    public IMogoPoiSearch getPoiSearch(Context context, MogoPoiSearchQuery query) {
-        return new MogoPoiSearch(context, query);
-    }
-
     @Override
     public IMogoMarkerManager getMarkerManager(Context context) {
         return MogoMarkerManager.getInstance(context);
@@ -64,22 +41,16 @@ public class MogoMapService implements IMogoMapService {
     }
 
     @Override
-    public IMogoHosListenerRegister getHostListenerRegister() {
-        return MogoHosListenerRegister.getInstance();
-    }
-
-    @Override
-    public IMogoOverlayManager getOverlayManager(Context context) {
+    public IMogoOverlayManager getOverlayManager() {
         return MogoOverlayManager.getInstance();
     }
 
     @Override
-    public IMogoTrafficSearch getTrafficSearchApi() {
-        return new MogoTrafficSearch();
+    public IMogoGDLocationClient getGDLocationServer(Context context) {
+        return GDLocationClient.getInstance(context);
     }
 
     @Override
     public void init(Context context) {
-        CallerVisualAngleManager.INSTANCE.init(context);
     }
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/MogoMarkerServiceImpl.java

@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.impl;
 
-import android.util.Log;
-
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.map.MogoLatLng;
@@ -11,10 +9,8 @@ import com.mogo.eagle.core.function.api.map.marker.IMogoMarkerService;
 import com.mogo.eagle.core.function.impl.marker.drawer.MarkerDrawer;
 import com.mogo.eagle.core.function.impl.marker.drawer.TrafficMarkerDrawer;
 import com.mogo.eagle.core.function.impl.marker.drawer.V2XWarnDataDrawer;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.map.marker.IMogoMarker;
 
-
 public class MogoMarkerServiceImpl implements IMogoMarkerService {
 
     private static volatile MogoMarkerServiceImpl sInstance;

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/MarkerDrawer.java

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.impl.marker.drawer;
 
 import android.text.TextUtils;
 
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -16,6 +15,7 @@ import com.mogo.eagle.core.function.impl.marker.view.EmptyMarkerView;
 import com.mogo.eagle.core.function.impl.marker.view.IMarkerView;
 import com.mogo.eagle.core.function.impl.marker.view.MapMarkerAdapter;
 import com.mogo.eagle.core.function.impl.marker.view.OnlineCarMarkerView;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.map.MogoMarkerManager;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerClickListener;

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/V2XWarnDataDrawer.java

@@ -55,10 +55,14 @@ public class V2XWarnDataDrawer extends BaseDrawer {
         IMogoMarker marker = drawMarker(markerShowEntity, modeResType(type));
 //        marker.addDynamicAnchorPosition(new MogoLatLng(collisionlat, collisionLon), (float) heading, showTime * 1000);
         UiThreadHandler.postDelayed(marker::remove, showTime * 1000);
-
     }
 
-    //根据识别物类型 (行人1/自行车2/摩托车4/骑行车辆11)获取3D模型(对应查看getModelRes)
+    /**
+     * 根据识别物类型 (行人1/自行车2/摩托车4/骑行车辆11)获取3D模型(对应查看getModelRes)
+     *
+     * @param dataType 数据类型
+     * @return 做完映射后的数据类型
+     */
     private int modeResType(int dataType) {
         switch (dataType) {
             case 1:
@@ -72,6 +76,13 @@ public class V2XWarnDataDrawer extends BaseDrawer {
         return 1;
     }
 
+    /**
+     * 绘制3D元素
+     *
+     * @param markerShowEntity 要展示的3d数据类型
+     * @param modeResType
+     * @return
+     */
     public IMogoMarker drawMarker(MarkerShowEntity markerShowEntity, int modeResType) {
         MogoMarkerOptions options = new MogoMarkerOptions()
                 .data(markerShowEntity)
@@ -90,6 +101,13 @@ public class V2XWarnDataDrawer extends BaseDrawer {
         return marker;
     }
 
+    /**
+     * 绘制箭头
+     * @param location
+     * @param markerType
+     * @param type
+     * @param rotate
+     */
     public void drawerArrowsMarkerWithLocation(MogoLatLng location, String markerType, int type, int rotate) {
         MogoMarkerOptions options = new MogoMarkerOptions()
                 .latitude(location.getLat())

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java

@@ -1,364 +0,0 @@
-package com.mogo.eagle.core.function.map;
-
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP;
-
-import android.content.Context;
-import android.os.Bundle;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.commons.AbsMogoApplication;
-import com.mogo.commons.mvp.MvpFragment;
-import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
-import com.mogo.eagle.core.data.map.CenterLine;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
-import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider;
-import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager;
-import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber;
-import com.mogo.eagle.core.function.business.MapPointCloudSubscriber;
-import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
-import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
-import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.function.overview.ViewModelExtKt;
-import com.mogo.eagle.core.function.overview.vm.OverViewModel;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-import com.mogo.map.IMogoMap;
-import com.mogo.map.IMogoUiSettings;
-import com.mogo.map.MogoMapView;
-import com.mogo.map.uicontroller.IMogoMapUIController;
-import com.zhidaoauto.map.sdk.open.MapAutoApi;
-import com.zhidaoauto.map.sdk.open.business.PointCloudHelper;
-
-import java.util.List;
-
-import mogo.telematics.pad.MessagePad;
-
-/**
- * @author donghongyu
- * @since 2021-11-09
- * 高精度地图层UI
- * <p>
- * 地图图层，地图操作都在这个图层完成
- */
-@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_MAP)
-public class MapFragment extends MvpFragment<MapView, MapPresenter>
-        implements MapView, IMoGoMapFragmentProvider, IMoGoSkinModeChangeListener {
-
-    private static final String TAG = "MapFragment";
-
-    private MogoMapView mMogoMapView;
-    private IMogoMap mMogoMap;
-
-    private final boolean mIsControllerByOthersStatus = false;
-
-    @Override
-    protected int getLayoutId() {
-        return R.layout.module_map_fragment_map;
-    }
-
-    @Override
-    public String getTagName() {
-        return TAG;
-    }
-
-    @Override
-    protected void initViews() {
-    }
-
-    @Override
-    public void stepInVrMode(boolean isDayMode) {
-        try {
-            if (mMogoMapView != null && mMogoMapView.getMap() != null && mMogoMapView.getMap().getUIController() != null) {
-                mMogoMapView.getMap().getUIController().stepInVrMode(isDayMode);
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    @Override
-    public void init(Context context) {
-        // do not implement
-    }
-
-    @Override
-    protected void initViews(Bundle savedInstanceState) {
-        super.initViews(savedInstanceState);
-        mMogoMapView = findViewById(R.id.module_map_id_map);
-        mMogoMapView.onCreate(savedInstanceState);
-        mMogoMap = mMogoMapView.getMap();
-        if (mMogoMap != null) {
-            mMogoMap.getUIController().showMyLocation(true);
-        }
-        // 添加换肤监听
-        CallerSkinModeListenerManager.INSTANCE.addListener(TAG, this);
-        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
-    }
-
-    @NonNull
-    @Override
-    protected MapPresenter createPresenter() {
-        return new MapPresenter(this);
-    }
-
-    @Override
-    public void onActivityCreated(@Nullable Bundle savedInstanceState) {
-        super.onActivityCreated(savedInstanceState);
-        initMapView();
-        queryInfStructure();
-    }
-
-    @Override
-    public void onSaveInstanceState(@NonNull Bundle outState) {
-        super.onSaveInstanceState(outState);
-        if (mMogoMapView != null) {
-            mMogoMapView.onSaveInstanceState(outState);
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    @Override
-    public void onPause() {
-        super.onPause();
-        if (mIsControllerByOthersStatus) {
-            return;
-        }
-        if (mMogoMapView != null) {
-            mMogoMapView.onPause();
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    @Override
-    public void onResume() {
-        super.onResume();
-        if (mIsControllerByOthersStatus) {
-            return;
-        }
-        if (mMogoMapView != null) {
-            mMogoMapView.onResume();
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    @Override
-    public void onLowMemory() {
-        super.onLowMemory();
-        if (mMogoMapView != null) {
-            mMogoMapView.onLowMemory();
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    private void initMapView() {
-        mMogoMap = mMogoMapView.getMap();
-        if (mMogoMap == null) {
-            return;
-        }
-        IMogoUiSettings uiSettings = mMogoMap.getUiSettings();
-        if (uiSettings != null) {
-            //设置所有手势是否可用
-            uiSettings.setAllGesturesEnabled(true);
-            //设置指南针是否可见。
-            uiSettings.setCompassEnabled(false);
-            //设置室内地图楼层切换控件是否可见。
-            uiSettings.setIndoorSwitchEnabled(true);
-            //设置定位按钮是否可见。
-            uiSettings.setMyLocationButtonEnabled(false);
-            //设置旋转手势是否可用。
-            uiSettings.setRotateGesturesEnabled(false);
-            //设置比例尺控件是否可见
-            uiSettings.setScaleControlsEnabled(true);
-            //设置拖拽手势是否可用。
-            uiSettings.setScrollGesturesEnabled(true);
-            //设置倾斜手势是否可用。
-            uiSettings.setTiltGesturesEnabled(true);
-            //设置缩放按钮是否可见。
-            uiSettings.setZoomControlsEnabled(false);
-            //设置双指缩放手势是否可用。
-            uiSettings.setZoomGesturesEnabled(true);
-        }
-
-        // TODO 临时初始化地图监听工控机、OBU等数据监听器，用于感知元素绘制
-        MapIdentifySubscriber.Companion.getInstance();
-        MogoRouteOverlayManager.getInstance().init();
-        MapPointCloudSubscriber.Companion.getInstance();
-        AiCloudIdentifyDataManager.Companion.getAiCloudIdentifyDataManager().init(AbsMogoApplication.getApp());
-    }
-
-    private void queryInfStructure() {
-        OverViewModel viewModel = ViewModelExtKt.obtainViewModel(this, OverViewModel.class);
-//        viewModel.getInfStructures().observe(this.getViewLifecycleOwner(), infrastructures -> {
-//            if (isFirst) {
-//                for (Infrastructure entity : infrastructures) {
-//                    Double lat = Double.parseDouble(entity.getLat());
-//                    Double lon = Double.parseDouble(entity.getLon());
-//                    if (lat < 0 || lat > 90 || lon < 0 || lon > 180) {
-//                        continue;
-//                    }
-//                    String geoHash = GeoHash.withCharacterPrecision(lat, lon, 7).toBase32();
-//                    viewModel.updateGeoHash(entity.getId(), geoHash);
-//                }
-//                isFirst = false;
-//            }
-//        });
-
-        viewModel.getInfStructuresMap().observe(this.getViewLifecycleOwner(), InfStructureManager.INSTANCE::saveData);
-        viewModel.fetchInfStructures();
-    }
-
-    private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {
-
-        @Override
-        public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) {
-            UiThreadHandler.post(() -> {
-                InfStructureManager.INSTANCE.savePlanningData(globalPathResp.getWayPointsList());
-            });
-        }
-
-        @Override
-        public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> trajectoryInfos) {}
-    };
-
-    @Override
-    public IMogoMapUIController getUIController() {
-        return mMogoMap.getUIController();
-    }
-
-    @Override
-    public void onDestroyView() {
-        CallerSkinModeListenerManager.INSTANCE.removeListener(TAG);
-        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
-        if (mMogoMapView != null) {
-            mMogoMapView.onDestroy();
-            mMogoMapView = null;
-            mMogoMap = null;
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-        super.onDestroyView();
-    }
-
-    @NonNull
-    @Override
-    public String getFunctionName() {
-        return TAG;
-    }
-
-    @Override
-    public void changeMaoViewAngle(int type) {
-        if (mMogoMapView != null && mMogoMapView.getMap() != null && mMogoMapView.getMap().getUIController() != null) {
-            mMogoMapView.getMap().getUIController().changeMapViewAngle(type);
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    @Override
-    public void changeCurrentIcon(int iconId) {
-        if (mMogoMapView != null && mMogoMapView.getMap() != null && mMogoMapView.getMap().getUIController() != null) {
-            mMogoMapView.getMap().getUIController().changeCurrentIcon(iconId);
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    /**
-     * sight mode
-     *
-     * @param mode
-     */
-    public static final int SIGHT_MODE_NORMAL = 0;
-    public static final int SIGHT_MODE_TOP = 1;
-    public static final int SIGHT_MODE_BACK = 2;
-    public static final int SIGHT_MODE_CROSS = 3;
-    public static final int SIGHT_MODE_FAR = 4;
-
-    @Override
-    public void setMapDAngle(int mode) {
-        float angle = getSightModeAngle(mode);
-        if (mMogoMapView != null && mMogoMapView.getMap() != null && mMogoMapView.getMap().getUIController() != null) {
-            mMogoMapView.getMap().getUIController().setMapDAngle(angle);
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-        }
-    }
-
-    private float getSightModeAngle(int mode) {
-        float angle = 0.0f;
-        switch (mode) {
-            case SIGHT_MODE_NORMAL:
-                angle = 16.5f;
-            case SIGHT_MODE_TOP:
-                angle = 16.5f;
-            case SIGHT_MODE_BACK:
-                angle = 16.5f;
-            case SIGHT_MODE_CROSS:
-                angle = 16.5f;
-            case SIGHT_MODE_FAR:
-                angle = 16.5f;
-        }
-        return angle;
-    }
-
-    @Nullable
-    @Override
-    public CenterLine getCenterLineInfo(double lon, double lat, float angle) {
-        if (mMogoMapView != null && mMogoMapView.getMap() != null && mMogoMapView.getMap().getUIController() != null) {
-            return mMogoMapView.getMap().getUIController().getCenterLineInfo(lon, lat, angle);
-        } else {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "mMogoMapView is null");
-            return null; //上层使用应该判空
-        }
-    }
-
-    @Override
-    public void onSkinModeChange(int skinMode) {
-        if (skinMode == 0) {
-            CallerHDMapManager.INSTANCE.stepInVrMode(false);
-        } else if (skinMode == 1) {
-            CallerHDMapManager.INSTANCE.stepInVrMode(true);
-        }
-    }
-
-    @Override
-    public void setPointCloudSize(float pointCloudSize) {
-        //设置点云大小
-        PointCloudHelper.INSTANCE.setPointCloudSize(pointCloudSize);
-    }
-
-    @Override
-    public void setPointCloudColor(@NonNull String color) {
-        // 设置点云颜色
-        PointCloudHelper.INSTANCE.setPointCloudColor(color);
-    }
-
-    @Override
-    public void setIsDrawPointCloud(boolean isDrawPointCloud) {
-        try {
-            // 是否绘制点云
-            PointCloudHelper.INSTANCE.setIsDrawPointCloud(isDrawPointCloud);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    /**
-     * 设置地图是否是Debug模式
-     * @param debugMode 是否开启Debug模式
-     */
-    @Override
-    public void setDebugMode(boolean debugMode) {
-        MapAutoApi.INSTANCE.setDebugMode(debugMode);
-    }
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPresenter.java

@@ -1,19 +0,0 @@
-package com.mogo.eagle.core.function.map;
-
-import com.mogo.commons.mvp.Presenter;
-
-/**
- * @author congtaowang
- * @since 2019-12-23
- * <p>
- * 描述
- */
-public class MapPresenter extends Presenter<MapView> {
-
-    private static final String TAG = "MapPresenter";
-
-    public MapPresenter(MapView view) {
-        super(view);
-    }
-
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapView.java

@@ -1,20 +0,0 @@
-package com.mogo.eagle.core.function.map;
-
-import com.mogo.commons.mvp.IView;
-import com.mogo.map.uicontroller.IMogoMapUIController;
-
-/**
- * @author congtaowang
- * @since 2019-12-23
- * <p>
- * 地图view
- */
-public interface MapView extends IView {
-
-    /**
-     * 地图控制接口
-     *
-     * @return
-     */
-    IMogoMapUIController getUIController();
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/InfStructureManager.kt

@@ -1,51 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import com.mogo.eagle.core.data.map.Infrastructure
-import mogo.telematics.pad.MessagePad
-
-/**
- * 本地数据库查询出来的红绿灯、摄像头等数据
- */
-object InfStructureManager {
-
-    // 每个GeoHash网格对应的新基建Bean
-    private val _infMap by lazy {
-        HashMap<String, ArrayList<Infrastructure>>()
-    }
-
-    // 全局路径规划中所有点的GeoHash网格对应的新基建数据集合
-    private val _pathMap by lazy {
-        HashMap<String, ArrayList<Infrastructure>>()
-    }
-
-    private val _planningList by lazy {
-        ArrayList<MessagePad.Location>()
-    }
-
-    fun saveData(map: HashMap<String, java.util.ArrayList<Infrastructure>>) {
-        if (_infMap.isNotEmpty()) {
-            _infMap.clear()
-        }
-        _infMap.putAll(map)
-    }
-
-    fun getData(): Map<String, ArrayList<Infrastructure>> = _infMap
-
-    fun savePathData(map: HashMap<String, java.util.ArrayList<Infrastructure>>) {
-        if (_pathMap.isNotEmpty()) {
-            _pathMap.clear()
-        }
-        _pathMap.putAll(map)
-    }
-
-    fun getPathData(): Map<String, ArrayList<Infrastructure>> = _pathMap
-
-    fun savePlanningData(planningList: List<MessagePad.Location>) {
-        if (_planningList.isNotEmpty()) {
-            _planningList.clear()
-        }
-        _planningList.addAll(planningList)
-    }
-
-    fun getPlanningData() = _planningList
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/OverviewDao.kt

@@ -1,18 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import androidx.room.Dao
-import androidx.room.Query
-import com.mogo.eagle.core.data.map.Infrastructure
-
-@Dao
-interface OverviewDao {
-    // 0表示摄像头，8表示红绿灯
-    @Query("SELECT * FROM t_device WHERE category = :category")
-    suspend fun listInfStructures(category: Int): List<Infrastructure>
-
-    @Query("SELECT * FROM t_device")
-    suspend fun listAllInfStructures(): List<Infrastructure>
-
-    @Query("UPDATE t_device SET geohash = :geoHash WHERE id = :id")
-    suspend fun updateGeoHash(id: Int, geoHash: String)
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/OverviewDb.kt

@@ -1,37 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import android.content.Context
-import androidx.room.Database
-import androidx.room.Room
-import androidx.room.RoomDatabase
-import androidx.room.migration.Migration
-import androidx.sqlite.db.SupportSQLiteDatabase
-import com.mogo.eagle.core.data.map.Infrastructure
-
-@Database(entities = [Infrastructure::class], version = 2, exportSchema = false)
-abstract class OverviewDb: RoomDatabase() {
-    abstract fun overviewDao(): OverviewDao
-
-    companion object {
-        private const val DB_PATH = "database/t_device.db"
-        private const val INTERNAL_DB_NAME = "t_device.db"
-
-        private val MIGRATION_1_2 = object : Migration(1, 2) {
-            override fun migrate(database: SupportSQLiteDatabase) {
-            }
-        }
-
-        private var db: OverviewDb? = null
-
-        fun getDb(context: Context): OverviewDb {
-            if (db == null) {
-                db = Room.databaseBuilder(context.applicationContext, OverviewDb::class.java, INTERNAL_DB_NAME)
-                    .createFromAsset(DB_PATH)
-                    .addMigrations(MIGRATION_1_2)
-                    .fallbackToDestructiveMigration()
-                    .build()
-            }
-            return db!!
-        }
-    }
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/ViewModelExt.kt

@@ -1,13 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import androidx.appcompat.app.AppCompatActivity
-import androidx.fragment.app.Fragment
-import androidx.lifecycle.ViewModel
-import androidx.lifecycle.ViewModelProviders
-import com.mogo.commons.AbsMogoApplication
-
-fun <T : ViewModel> AppCompatActivity.obtainViewModel(viewModelClass: Class<T>) =
-    ViewModelProviders.of(this, ViewModelFactory.getInstance(application)).get(viewModelClass)
-
-fun <T : ViewModel> Fragment.obtainViewModel(viewModelClass: Class<T>) =
-    ViewModelProviders.of(this, ViewModelFactory.getInstance(AbsMogoApplication.getApp())).get(viewModelClass)

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/ViewModelFactory.kt

@@ -1,39 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import android.annotation.SuppressLint
-import android.app.Application
-import androidx.annotation.VisibleForTesting
-import androidx.lifecycle.ViewModel
-import androidx.lifecycle.ViewModelProvider
-import com.mogo.eagle.core.function.overview.vm.OverViewModel
-
-class ViewModelFactory private constructor(
-        private val overviewDao: OverviewDao
-) : ViewModelProvider.NewInstanceFactory() {
-
-    override fun <T : ViewModel> create(modelClass: Class<T>) =
-            with(modelClass) {
-                when {
-                    isAssignableFrom(OverViewModel::class.java) ->
-                        OverViewModel(overviewDao)
-                    else ->
-                        throw IllegalArgumentException("Unknown ViewModel class: ${modelClass.name}")
-                }
-            } as T
-
-    companion object {
-        @SuppressLint("StaticFieldLeak")
-        @Volatile private var INSTANCE: ViewModelFactory? = null
-
-        fun getInstance(application: Application) =
-                INSTANCE ?: synchronized(ViewModelFactory::class.java) {
-                    INSTANCE ?: ViewModelFactory(
-                            OverviewDb.getDb(application).overviewDao())
-                            .also { INSTANCE = it }
-                }
-
-        @VisibleForTesting fun destroyInstance() {
-            INSTANCE = null
-        }
-    }
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/remote/OverViewServiceApi.kt

@@ -1,11 +0,0 @@
-package com.mogo.eagle.core.function.overview.remote
-
-import io.reactivex.Observable
-import retrofit2.http.GET
-import retrofit2.http.Query
-
-interface OverViewServiceApi {
-
-    @GET("/eagleEye-mis/config/queryV2NInformation")
-    fun queryAllV2XEventsByLineId(@Query("lineId") lineId: String, @Query("sn") sn: String): Observable<V2XEventResult>
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/remote/V2XEventResult.kt

@@ -1,73 +0,0 @@
-package com.mogo.eagle.core.function.overview.remote
-
-import androidx.annotation.Keep
-
-import com.google.gson.annotations.SerializedName
-import com.mogo.eagle.core.data.BaseData
-
-
-@Keep
-data class V2XEventResult (
-    @SerializedName("result")
-    var result: Result?
-): BaseData()
-
-@Keep
-data class Result(
-    @SerializedName("eventList")
-    var v2XEventList: List<V2XEvent>?
-)
-
-@Keep
-data class V2XEvent(
-    @SerializedName("receiveTime")
-    var receiveTime: Long,
-
-    @SerializedName("detectTime")
-    var detectTime: Long,
-
-    @SerializedName("id")
-    var id: String?,
-
-    @SerializedName("center")
-    var center: Center?,
-
-    @SerializedName("centerRoad")
-    var centerRoad: CenterRoad?,
-
-    @SerializedName("radius")
-    var radius: Double,
-
-    @SerializedName("poiType")
-    var poiType: String?,
-
-    @SerializedName("coordinateType")
-    var coordinateType:Int? = null
-)
-
-@Keep
-data class Center(
-    @SerializedName("lat")
-    var lat: Double,
-
-    @SerializedName("lon")
-    var lon: Double
-)
-
-@Keep
-data class CenterRoad(
-    @SerializedName("bearing")
-    var bearing: Double,
-
-    @SerializedName("laneNo")
-    var laneNo: Long,
-
-    @SerializedName("roadId")
-    var roadId: String?,
-
-    @SerializedName("roadName")
-    var roadName: String?,
-
-    @SerializedName("tileId")
-    var tileId: Long
-)

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/vm/OverViewModel.kt

@@ -1,141 +0,0 @@
-package com.mogo.eagle.core.function.overview.vm
-
-import androidx.lifecycle.*
-import com.mogo.commons.constants.HostConst
-import com.mogo.eagle.core.data.map.Infrastructure
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
-import com.mogo.eagle.core.function.overview.OverviewDao
-import com.mogo.eagle.core.function.overview.remote.OverViewServiceApi
-import com.mogo.eagle.core.function.overview.remote.V2XEvent
-import com.mogo.eagle.core.network.MoGoRetrofitFactory
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import io.reactivex.Observable
-import io.reactivex.android.schedulers.AndroidSchedulers
-import io.reactivex.disposables.Disposable
-import io.reactivex.schedulers.Schedulers
-import kotlinx.coroutines.launch
-import java.util.concurrent.TimeUnit
-
-class OverViewModel(
-    private val overviewDao: OverviewDao
-) : ViewModel() {
-    private val _infStructures = MutableLiveData<List<Infrastructure>>()
-    private val _V2XEvents = MutableLiveData<List<V2XEvent>>()
-    private var disposable: Disposable? = null
-
-    companion object {
-        const val TAG = "OverViewModel"
-    }
-
-    val infStructures
-        get() = _infStructures
-
-    private val _infStructuresMap = _infStructures
-        .switchMap { infStructures ->
-            liveData {
-                val map = HashMap<String, ArrayList<Infrastructure>>()
-                infStructures.forEach {
-                    val geoHash = it.geoHash
-                    if (geoHash == null) {
-                        return@forEach
-                    } else {
-                        if (!map.containsKey(geoHash)) {
-                            val list = ArrayList<Infrastructure>()
-                            list.add(it)
-                            map[geoHash] = list
-                        } else {
-                            map[geoHash]?.add(it)
-                        }
-                    }
-                }
-                emit(map)
-            }
-        }
-    val infStructuresMap
-        get() = _infStructuresMap
-
-    fun fetchInfStructures() {
-        viewModelScope.launch {
-            val data = try {
-                // 只查找摄像头
-                overviewDao.listInfStructures(0)
-//                overviewDao.listAllInfStructures()
-            } catch (e: Exception) {
-                e.printStackTrace()
-                null
-            }
-            data?.let {
-                _infStructures.value = it
-            }
-        }
-    }
-
-    fun updateGeoHash(id: Int, geoHash: String) {
-        viewModelScope.launch {
-            try {
-                overviewDao.updateGeoHash(id, geoHash)
-            } catch (e: Exception) {
-                e.printStackTrace()
-            }
-        }
-    }
-
-    fun getAllV2XEventsByLineId(sn: String) {
-        if (disposable != null && !disposable!!.isDisposed) {
-            disposable!!.dispose()
-        }
-
-        // 1分钟查询一次
-        disposable = Observable.interval(2000, 60000, TimeUnit.MILLISECONDS)
-            .flatMap {
-                val lineId = getLineId()
-                if (lineId > 0) {
-                    MoGoRetrofitFactory.getInstance(HostConst.getHost())
-                        .create(OverViewServiceApi::class.java)
-                        .queryAllV2XEventsByLineId(lineId.toString(), sn)
-                        .map {
-                            if (it.code == 200 || it.code == 0) {
-                                CallerLogger.d(SceneConstant.M_MAP + TAG, "请求成功，size为：${it.result?.v2XEventList?.size}")
-                                return@map it.result?.v2XEventList
-                            } else {
-                                CallerLogger.d(SceneConstant.M_MAP + TAG, "请求失败，code为：${it.code}")
-                                return@map ArrayList()
-                            }
-                        }
-                } else {
-                    Observable.just(ArrayList())
-                }
-            }
-            .subscribeOn(Schedulers.io())
-            .observeOn(AndroidSchedulers.mainThread())
-            .subscribe {
-                it?.apply {
-                    _V2XEvents.value = this
-                }
-            }
-    }
-
-    fun getV2XEventLiveData() = _V2XEvents
-
-    fun stopQueryV2XEvents() {
-        disposable?.dispose()
-    }
-
-    private fun getLineId(): Long {
-        var lineId: Long = -1
-        val parameter = getAutoPilotStatusInfo()
-            .autopilotControlParameters
-        if (parameter != null) {
-            if (parameter.autoPilotLine != null) {
-                lineId = parameter.autoPilotLine!!.lineId
-                CallerLogger.d(SceneConstant.M_MAP + TAG, "lineId为:$lineId")
-            } else {
-                CallerLogger.d(SceneConstant.M_MAP + TAG, "parameter.autoPilotLine为null")
-            }
-        } else {
-            CallerLogger.d(SceneConstant.M_MAP + TAG, "parameter为null")
-        }
-        return lineId
-    }
-}

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

@@ -1,555 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import android.content.Context;
-import android.graphics.Bitmap;
-import android.graphics.Canvas;
-import android.os.Bundle;
-import android.util.AttributeSet;
-import android.util.Log;
-import android.view.LayoutInflater;
-import android.view.MotionEvent;
-import android.view.View;
-import android.widget.RelativeLayout;
-import android.widget.TextView;
-
-import androidx.annotation.Nullable;
-
-import com.amap.api.maps.AMap;
-import com.amap.api.maps.CameraUpdate;
-import com.amap.api.maps.CameraUpdateFactory;
-import com.amap.api.maps.TextureMapView;
-import com.amap.api.maps.UiSettings;
-import com.amap.api.maps.model.BitmapDescriptor;
-import com.amap.api.maps.model.BitmapDescriptorFactory;
-import com.amap.api.maps.model.CameraPosition;
-import com.amap.api.maps.model.CustomMapStyleOptions;
-import com.amap.api.maps.model.LatLng;
-import com.amap.api.maps.model.LatLngBounds;
-import com.amap.api.maps.model.Marker;
-import com.amap.api.maps.model.MarkerOptions;
-import com.amap.api.maps.model.Polyline;
-import com.amap.api.maps.model.PolylineOptions;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.map.Infrastructure;
-import com.mogo.eagle.core.data.map.MogoLocation;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
-import com.mogo.eagle.core.function.map.R;
-import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.function.overview.remote.Center;
-import com.mogo.eagle.core.function.overview.remote.V2XEvent;
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
-import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-
-import org.jetbrains.annotations.NotNull;
-
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
-import ch.hsr.geohash.GeoHash;
-import kotlin.Pair;
-import me.jessyan.autosize.utils.AutoSizeUtils;
-import mogo.telematics.pad.MessagePad;
-
-/**
- * 小地图的方向View
- * 监听自动驾驶路径结束,结束高德地图导航
- *
- * @author donghongyu
- * @date 12/14/20 4:40 PM
- */
-public class AMapCustomView
-        extends RelativeLayout
-        implements IMoGoMapLocationListener {
-    public static final String TAG = "AMapCustomView";
-    private TextureMapView mAMapView;
-    private AMap mAMap;
-    private int zoomLevel = 15;
-    private CameraUpdate mCameraUpdate;
-    private Context mContext;
-    private float mTilt = 60f;
-    private TextView overLayerView;
-    private boolean calculate = false;
-
-    // 全局路径规划中的GeoHash网格
-    private Map<String, ArrayList<Infrastructure>> pathMap = new HashMap();
-    private Map<LatLng, ArrayList<Infrastructure>> posInfMap = new HashMap();
-
-    // =============绘制轨迹线相关=============
-    private Marker mCarMarker;
-    private Marker mCompassMarker;
-    private Marker mStartMarker;
-    private Marker mEndMarker;
-    private Polyline mBottomPolyline;
-    private Polyline mCoveredPolyline;
-    // 计算索引并设置对应的Bitmap
-    BitmapDescriptor arrivedBitmap;
-    BitmapDescriptor unArrivedBitmap;
-    // 绘制轨迹线的集合
-    private List<BitmapDescriptor> textureList = new ArrayList<>();
-    private List<Integer> texIndexList = new ArrayList<>();
-
-    private MogoLocation mLocation;
-    private boolean isFirstLocation = true;
-    CustomMapStyleOptions mCustomMapStyleOptions;
-
-    ArrayList<Marker> currMarkerList;
-
-    public AMapCustomView(Context context) {
-        this(context, null);
-    }
-
-    public AMapCustomView(Context context, @Nullable AttributeSet attrs) {
-        this(context, attrs, 0);
-    }
-
-    public AMapCustomView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
-        super(context, attrs, defStyleAttr);
-        try {
-            initView(context);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    private void initView(Context context) {
-        mContext = context;
-        View smpView = LayoutInflater.from(context).inflate(R.layout.module_overview_map_view, this);
-        mAMapView = smpView.findViewById(R.id.aMapView);
-        overLayerView = findViewById(R.id.overLayer);
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            overLayerView.setBackground(getResources().getDrawable(R.drawable.amap_reset));
-            arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.taxi_map_arrow_arrived);
-            unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.taxi_map_arrow_un_arrive);
-        } else {
-            overLayerView.setBackground(getResources().getDrawable(R.drawable.amap_reset_bus));
-            arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.arrow_arrived_img);
-            unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_smooth_route);
-        }
-        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
-        initAMapView(context);
-        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
-        //设置全览模式
-        overLayerView.setOnClickListener(v -> {
-            displayCustomOverView();
-        });
-    }
-
-    private void initAMapView(Context context) {
-        Log.d(TAG, "initAMapView");
-        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-        mAMap = mAMapView.getMap();
-        mCustomMapStyleOptions = new CustomMapStyleOptions();
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            mCustomMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data"));
-            mCustomMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data"));
-        } else {
-            mCustomMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style_bus.data"));
-            mCustomMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra_bus.data"));
-        }
-        mAMap.setOnMapLoadedListener(() -> {
-            Log.d(TAG, "---onMapLoaded---");
-            if (mCustomMapStyleOptions != null) {
-                // 加载自定义样式
-                mCustomMapStyleOptions.setEnable(true);
-                // 设置自定义样式
-                mAMap.setCustomMapStyle(mCustomMapStyleOptions);
-            }
-            // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
-            mAMap.setTrafficEnabled(false);
-        });
-        setUpMap();
-        customOptions();
-    }
-
-    private void setUpMap() {
-        // 地图文字标注
-        mAMap.showMapText(true);
-        //设置希望展示的地图缩放级别
-        mAMap.moveCamera(mCameraUpdate);
-        //设置地图的样式
-        UiSettings uiSettings = mAMap.getUiSettings();
-        //地图缩放级别的交换按钮
-        uiSettings.setZoomControlsEnabled(false);
-        //所有手势
-        uiSettings.setAllGesturesEnabled(true);
-        //隐藏指南针
-        uiSettings.setCompassEnabled(false);
-        //设置倾斜手势是否可用。
-        uiSettings.setTiltGesturesEnabled(true);
-        //隐藏默认的定位按钮
-        uiSettings.setMyLocationButtonEnabled(false);
-        //设置Logo下边界距离屏幕底部的边距,设置为负值即可
-        uiSettings.setLogoBottomMargin(-150);
-        Log.d(TAG, "before  onMapLoaded");
-    }
-
-    /**
-     * 自定义导航View和路况状态
-     */
-    private void customOptions() {
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            mCarMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
-                    .anchor(0.5f, 0.5f));
-            mCompassMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_custom_corner))
-                    .anchor(0.5f, 0.5f));
-        } else {
-            mCarMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
-                    .anchor(0.5f, 0.5f));
-            mCompassMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_corner))
-                    .anchor(0.5f, 0.5f));
-        }
-
-        mStartMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start)));
-        mEndMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end)));
-    }
-
-    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) {
-            Log.d(TAG, "onAutopilotRotting");
-            handlePlanningData(globalPathResp.getWayPointsList());
-        }
-    };
-
-    public void handlePlanningData(List<MessagePad.Location> locationList) {
-        List list = locationList;
-        // 转成高德坐标系并存储
-        MarkerDrawerManager.INSTANCE.updateRoutePoints(list, mContext);
-        List<LatLng> planningPointList = MarkerDrawerManager.INSTANCE.getPlanningPoints();
-        UiThreadHandler.post(() -> {
-            displayCustomOverView();
-            drawStartAndEndMarker(planningPointList);
-        });
-        MarkerDrawerManager.INSTANCE.setCallback((points, locIndex) -> {
-            // 每1s刷新一下轨迹线
-            UiThreadHandler.post(() -> {
-                if (points.size() > 0) {
-                    drawPolyline(points, locIndex);
-                }
-            });
-        });
-        MarkerDrawerManager.INSTANCE.startLoopCalCarLocation();
-        UiThreadHandler.post(() -> {
-            drawInfrastructureMarkers(locationList);
-        });
-    }
-
-    public void showV2XEventMarkers(List<V2XEvent> v2XEvents) {
-        if (v2XEvents == null || v2XEvents.size() <= 0) return;
-        clearV2XMarkers();
-        ArrayList<MarkerOptions> markerOptionsList = new ArrayList<>();
-        for (V2XEvent event : v2XEvents) {
-            Center center = event.getCenter();
-            if (center != null) {
-                center.getLon();
-                MarkerOptions markerOption = new MarkerOptions();
-                LatLng latLng;
-                if (event.getCoordinateType() == null || event.getCoordinateType() == 0) {
-                    latLng = new LatLng(center.getLat(), center.getLon());
-                } else {
-                    // wgs84坐标系需转成高德坐标系
-                    latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, center.getLat(), center.getLon());
-                }
-                markerOption.position(latLng);
-                markerOption.anchor(0.13f, 1f);
-                markerOption.icon(BitmapDescriptorFactory.fromBitmap(getV2XBitmap(event.getPoiType())));
-                markerOptionsList.add(markerOption);
-            }
-        }
-        if (markerOptionsList.size() > 0) {
-            drawV2XMarkers(markerOptionsList);
-        }
-    }
-
-    public void drawV2XMarkers(ArrayList<MarkerOptions> markerOptionsList) {
-        currMarkerList = mAMap.addMarkers(markerOptionsList, false);
-    }
-
-    private Bitmap getV2XBitmap(String poiType) {
-        V2XMarkerView marker = new V2XMarkerView(getContext(), null, 0, poiType);
-        marker.measure(View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 229), View.MeasureSpec.EXACTLY),
-                View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 96), View.MeasureSpec.EXACTLY));
-        marker.layout(0, 0, marker.getMeasuredWidth(), marker.getMeasuredHeight());
-        Bitmap bitmap = Bitmap.createBitmap(marker.getWidth(), marker.getHeight(), Bitmap.Config.ARGB_8888);
-        marker.draw(new Canvas(bitmap));
-        return bitmap;
-    }
-
-    public void clearV2XMarkers() {
-        if (currMarkerList != null) {
-            for (Marker marker : currMarkerList) {
-                marker.destroy();
-            }
-            currMarkerList = null;
-        }
-    }
-
-    @Override
-    protected void onDetachedFromWindow() {
-        super.onDetachedFromWindow();
-        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
-        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
-    }
-
-    @Override
-    public boolean onInterceptTouchEvent(MotionEvent ev) {
-        return false;
-    }
-
-
-    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
-        mLocation = location;
-        MarkerDrawerManager.INSTANCE.setLonLat(new Pair(location.getLongitude(), location.getLatitude()));
-        drawCarMarker(location);
-        if (isFirstLocation) {
-            displayCustomOverView();
-            isFirstLocation = false;
-        }
-    }
-
-    public void onCreateView(Bundle savedInstanceState) {
-        if (mAMapView != null) {
-            mAMapView.onCreate(savedInstanceState);
-        }
-    }
-
-    public void onResume() {
-        if (mAMapView != null) {
-            mAMapView.onResume();
-        }
-    }
-
-    public void onPause() {
-        if (mAMapView != null) {
-            mAMapView.onPause();
-        }
-    }
-
-    public void onDestroy() {
-        if (mAMapView != null) {
-            mAMapView.onDestroy();
-        }
-
-        if (mAMapView != null) {
-            mAMapView.onDestroy();
-        }
-    }
-
-    public void clearCustomPolyline() {
-        if (mBottomPolyline != null) {
-            mBottomPolyline.remove();
-        }
-        if (mCoveredPolyline != null) {
-            mCoveredPolyline.remove();
-        }
-    }
-
-    /**
-     * 绘制新基建Markers(比如：摄像头)
-     *
-     * @param locationList
-     */
-    private void drawInfrastructureMarkers(List<MessagePad.Location> locationList) {
-        if (locationList == null) return;
-        if (!pathMap.isEmpty()) {
-            pathMap.clear();
-        }
-        String geoHash;
-        ArrayList<Infrastructure> infList;
-        for (int i = 0; i < locationList.size(); i++) {
-            LatLng latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, locationList.get(i));
-            geoHash = GeoHash.withCharacterPrecision(latLng.latitude, latLng.longitude, 7).toBase32();
-            // 网格内的轨迹点只取一次s
-            if (!pathMap.containsKey(geoHash)) {
-                // 从缓存的新基建数据中去取对应geoHash的新基建数据集合
-                infList = InfStructureManager.INSTANCE.getData().get(geoHash);
-                if (infList != null) {
-                    pathMap.put(geoHash, infList);
-                }
-            }
-        }
-        drawInfMarkers(pathMap);
-    }
-
-    public void drawInfMarkers(Map<String, ArrayList<Infrastructure>> infStruMap) {
-        // 绘制新基建数据
-        if (!posInfMap.isEmpty()) {
-            posInfMap.clear();
-        }
-        ArrayList<MarkerOptions> markerOptionsList = new ArrayList();
-        for (ArrayList<Infrastructure> structureList : infStruMap.values()) {
-            // 每个GeoHash内根据坐标系象限分散开摄像头icon显示
-
-            MarkerOptions markerOption = new MarkerOptions();
-            LatLng latLng = new LatLng(Double.valueOf(structureList.get(0).getLat()),
-                    Double.valueOf(structureList.get(0).getLon()));
-            markerOption.position(latLng);
-            Bitmap bitmap = getBitmap(structureList.size());
-            markerOption.icon(BitmapDescriptorFactory.fromBitmap(
-                    bitmap
-            ));
-            markerOption.zIndex(2f);
-            posInfMap.put(latLng, structureList);
-            markerOptionsList.add(markerOption);
-        }
-        mAMap.addMarkers(markerOptionsList, false);
-        mAMap.setOnMarkerClickListener(marker -> {
-            List<Infrastructure> infList = posInfMap.get(marker.getPosition());
-            // 如果是摄像头
-            if (infList != null) {
-                CallerHmiManager.INSTANCE.showVideoDialog(infList);
-                return true;
-            }
-            return false;
-        });
-    }
-
-    private Bitmap getBitmap(int count) {
-        MakerWithCount marker = new MakerWithCount(getContext());
-        marker.setCount(count);
-
-        marker.measure(View.MeasureSpec.makeMeasureSpec(116, View.MeasureSpec.EXACTLY),
-                View.MeasureSpec.makeMeasureSpec(116, View.MeasureSpec.EXACTLY));
-        marker.layout(0, 0, marker.getMeasuredWidth(), marker.getMeasuredHeight());
-        Bitmap bitmap = Bitmap.createBitmap(marker.getWidth(), marker.getHeight(), Bitmap.Config.ARGB_8888);
-        marker.draw(new Canvas(bitmap));
-        return bitmap;
-    }
-
-    /**
-     * 进入自定义全览模式
-     */
-    private void displayCustomOverView() {
-        ArrayList<LatLng> linePointsLatLng = MarkerDrawerManager.INSTANCE.getPlanningPoints();
-        MogoLocation location = mLocation;
-        if (linePointsLatLng.size() > 1) {
-            //圈定地图显示范围
-            //存放经纬度
-            LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
-            for (int i = 0; i < linePointsLatLng.size(); i++) {
-                boundsBuilder.include(linePointsLatLng.get(i));
-            }
-            LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
-            boundsBuilder.include(currentLatLng);
-
-            CameraPosition cameraPosition = new CameraPosition.Builder().tilt(mTilt).build();
-            //第二个参数为四周留空宽度
-            mAMap.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100));
-            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
-        } else {
-            //设置希望展示的地图缩放级别
-            CameraPosition cameraPosition = new CameraPosition.Builder()
-                    .target(mCarMarker.getPosition()).tilt(0).zoom(zoomLevel).build();
-            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
-        }
-    }
-
-    /**
-     * 绘制自车
-     *
-     * @param location
-     */
-    private void drawCarMarker(MogoLocation location) {
-        if (location == null) return;
-        if (mCarMarker != null) {
-            LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
-            mCarMarker.setRotateAngle(360 - location.getBearing());
-            mCarMarker.setPosition(currentLatLng);
-            mCarMarker.setToTop();
-            if (mCompassMarker != null) {
-                mCompassMarker.setRotateAngle(360 - location.getBearing());
-                mCompassMarker.setPosition(currentLatLng);
-            }
-        }
-    }
-
-    /**
-     * 绘制起始点、终点
-     */
-    private void drawStartAndEndMarker(List<LatLng> coordinates) {
-        if (mStartMarker != null) {
-            mStartMarker.setVisible(false);
-        }
-        if (mEndMarker != null) {
-            mEndMarker.setVisible(false);
-        }
-        if (coordinates.size() > 2) {
-            // 设置开始结束Marker位置
-
-            LatLng startLatLng = coordinates.get(0);
-            LatLng endLatLng = coordinates.get(coordinates.size() - 1);
-
-            mStartMarker.setPosition(startLatLng);
-            mEndMarker.setPosition(endLatLng);
-            mStartMarker.setVisible(true);
-            mEndMarker.setVisible(true);
-        }
-    }
-
-    /**
-     * 绘制轨迹线
-     *
-     * @param coordinates
-     * @param locIndex
-     */
-    private void drawPolyline(List<LatLng> coordinates, int locIndex) {
-        if (textureList.size() > 0) {
-            textureList.clear();
-        }
-        if (texIndexList.size() > 0) {
-            texIndexList.clear();
-        }
-        for (int i = 0; i < coordinates.size(); i++) {
-            if (i <= locIndex) {
-                // 已走过的置灰
-                textureList.add(arrivedBitmap);
-            } else {
-                // 未走过的纹理
-                textureList.add(unArrivedBitmap);
-            }
-            texIndexList.add(i);
-        }
-        if (mAMap != null && coordinates.size() > 2) {
-            //设置线段纹理
-            PolylineOptions polylineOptions = new PolylineOptions();
-            polylineOptions.addAll(coordinates);
-            polylineOptions.width(14); //线段宽度
-            polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapRound);
-            polylineOptions.setCustomTextureList(textureList);
-            polylineOptions.setCustomTextureIndex(texIndexList);
-            // 绘制线
-            mBottomPolyline = mCoveredPolyline;
-            mCoveredPolyline = mAMap.addPolyline(polylineOptions);
-            if (mBottomPolyline != null) {
-                mBottomPolyline.remove();
-            }
-        }
-    }
-}

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

@@ -13,13 +13,10 @@ import com.amap.api.maps.model.LatLng;
 import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
-import com.amap.api.navi.AMapNaviView;
 import com.autonavi.amap.mapcore.IPoint;
 import com.mogo.eagle.core.function.map.R;
 
 import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.ScheduledThreadPoolExecutor;
-import java.util.concurrent.TimeUnit;
 
 /**
  * 包名： com.amap.api.navi.core

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

@@ -1,10 +1,10 @@
 package com.mogo.eagle.core.function.smp
 
 import android.content.Context
-import android.util.Log
 import com.amap.api.maps.CoordinateConverter
 import com.amap.api.maps.model.LatLng
-import com.mogo.cloud.commons.utils.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import io.reactivex.Observable
 import io.reactivex.ObservableOnSubscribe
 import io.reactivex.android.schedulers.AndroidSchedulers
@@ -22,9 +22,7 @@ object MarkerDrawerManager {
         fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int)
     }
 
-    private val routeWipeDisposable by lazy {
-        CompositeDisposable()
-    }
+    private var routeWipeDisposable: CompositeDisposable? = null
 
     // 自主画线的所有高德坐标系的轨迹点
     val planningPoints by lazy {
@@ -35,40 +33,44 @@ object MarkerDrawerManager {
     var lastArrivedIndex: Int = -1
 
     @Volatile
-    var lonLat = Pair(0.0, 0.0)
+    var lonLatHeading = Triple(0.0, 0.0, 0.0)
 
     var callback: Callback? = null
 
     fun startLoopCalCarLocation() {
-        getLoopCalCarObservable().delay(1000L, TimeUnit.MILLISECONDS, true)
+        routeWipeDisposable = CompositeDisposable()
+        getLoopCalCarObservable().delay(500L, TimeUnit.MILLISECONDS, true)
             .subscribeOn(Schedulers.io())
             .repeat()
             .retry()
             .observeOn(AndroidSchedulers.mainThread())
             .subscribe().let {
-                routeWipeDisposable.add(it)
+                routeWipeDisposable?.add(it)
             }
     }
 
     fun stopLoopCalCarLocation() {
-        if (!routeWipeDisposable.isDisposed) {
-            routeWipeDisposable.dispose()
+        routeWipeDisposable?.let {
+            if (!it.isDisposed) {
+                it.dispose()
+            }
         }
     }
 
     private fun getLoopCalCarObservable(): Observable<Int> {
         return Observable.create(ObservableOnSubscribe { emitter ->
             if (emitter.isDisposed) return@ObservableOnSubscribe
-            loopRouteAndWipe(planningPoints, lonLat.first, lonLat.second)
+            loopRouteAndWipe(planningPoints, lonLatHeading.first, lonLatHeading.second, lonLatHeading.third)
             emitter.onComplete()
         })
     }
 
-    private fun loopRouteAndWipe(routePoints: List<LatLng>?, lon: Double, lat: Double) {
+    private fun loopRouteAndWipe(routePoints: List<LatLng>?, lon: Double, lat: Double, heading: Double) {
         if (routePoints != null && routePoints.isNotEmpty()) {
-            val arrivedIndex: Int = getArrivedPointIndex(routePoints, lon, lat)
+            val newPointList = ArrayList<LatLng>()
+            val arrivedIndex: Int = getArrivedPointIndex(routePoints, newPointList, lon, lat, heading)
             if (arrivedIndex != -1 && lastArrivedIndex != arrivedIndex) {
-                callback?.onLocationChanged(routePoints, arrivedIndex)
+                callback?.onLocationChanged(newPointList, arrivedIndex)
                 lastArrivedIndex = arrivedIndex
             }
         }
@@ -90,8 +92,10 @@ object MarkerDrawerManager {
      */
     private fun getArrivedPointIndex(
         routePoints: List<LatLng>,
+        newPoints: MutableList<LatLng>,
         realLon: Double,
-        realLat: Double
+        realLat: Double,
+        heading: Double
     ): Int {
         var currentIndex = 0 //记录疑似点
         if (routePoints.isNotEmpty()) {
@@ -107,12 +111,17 @@ object MarkerDrawerManager {
                 )
                 if (baseDiffDis > diff) {
                     baseDiffDis = diff
-                    currentIndex = i
+                    // 距离最近的时候判断是否走过
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(realLon, realLat, latLng.longitude, latLng.latitude, heading) >= 90) {
+                        currentIndex = i
+                    }
                 }
             }
-            return currentIndex
+            newPoints.addAll(routePoints)
+            newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
+            return currentIndex + 1
         }
-        return currentIndex
+        return 0
     }
 
     /**

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

@@ -1,121 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import com.amap.api.maps.AMapUtils;
-import com.amap.api.maps.model.LatLng;
-import com.amap.api.navi.model.NaviLatLng;
-import com.autonavi.amap.mapcore.IPoint;
-import com.autonavi.amap.mapcore.MapProjection;
-
-/**
- * 包名： com.amap.navi.demo.util
- * <p>
- * 创建时间：2018/4/19
- * 项目名称：NaviDemo
- *
- * @author guibao.ggb
- * @email guibao.ggb@alibaba-inc.com
- * <p>
- * 类说明：
- */
-public class NaviUtil {
-
-    public static float calculateDistance(NaviLatLng start, NaviLatLng end) {
-        double x1 = start.getLongitude();
-        double y1 = start.getLatitude();
-        double x2 = end.getLongitude();
-        double y2 = end.getLatitude();
-        return AMapUtils.calculateLineDistance(new LatLng(y1, x1), new LatLng(y2, x2));
-    }
-
-
-    public static NaviLatLng getPointForDis(NaviLatLng sPt, NaviLatLng ePt, double dis) {
-        double lSegLength = calculateDistance(sPt, ePt);
-        NaviLatLng pt = new NaviLatLng();
-        double preResult = dis / lSegLength;
-        pt.setLatitude(((ePt.getLatitude() - sPt.getLatitude()) * preResult + sPt.getLatitude()));
-        pt.setLongitude(((ePt.getLongitude() - sPt.getLongitude()) * preResult + sPt.getLongitude()));
-        return pt;
-    }
-
-    /**
-     * 根据经纬度计算需要偏转的角度
-     *
-     * @param startPoi
-     * @param secondPoi
-     * @return
-     */
-    public static float getRotate(NaviLatLng startPoi, NaviLatLng secondPoi) {
-        float rotate = 0;
-        try {
-            IPoint point1 = new IPoint();
-            IPoint point2 = new IPoint();
-            MapProjection.lonlat2Geo(startPoi.getLongitude(), startPoi.getLatitude(), point1);
-            MapProjection.lonlat2Geo(secondPoi.getLongitude(), secondPoi.getLatitude(), point2);
-            double x1 = point1.x;
-            double x2 = point2.x;
-            double y1 = point1.y;
-            double y2 = point2.y;
-            rotate = (float) (Math.atan2(y2 - y1, x2 - x1) / Math.PI * 180);
-            rotate = rotate + 90;
-            return rotate;
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-        return rotate;
-    }
-
-
-    public static final int MAXZOOMLEVEL = 20;
-    public static final int PIXELSPERTILE = 256;
-    public static final double MINLATITUDE = -85.0511287798;
-    public static final double MAXLATITUDE = 85.0511287798;
-    public static final double MINLONGITUDE = -180;
-    public static final double MAXLONGITUDE = 180;
-    public static final int EARTHRADIUSINMETERS = 6378137;
-    public static final int TILESPLITLEVEL = 0;
-
-
-    public static final double EarthCircumferenceInMeters = 2 * Math.PI
-            * EARTHRADIUSINMETERS;
-
-
-    public static double clip(double n, double minValue, double maxValue) {
-        return Math.min(Math.max(n, minValue), maxValue);
-    }
-
-    public static IPoint lonlat2Geo(double latitude, double longitude,
-                                    int levelOfDetail) {
-        IPoint rPnt = new IPoint();
-        latitude = clip(latitude, MINLATITUDE, MAXLATITUDE) * Math.PI / 180;
-        longitude = clip(longitude, MINLONGITUDE, MAXLONGITUDE) * Math.PI / 180;
-        double sinLatitude = Math.sin(latitude);
-        double xMeters = EARTHRADIUSINMETERS * longitude;
-        double lLog = Math.log((1 + sinLatitude) / (1 - sinLatitude));
-        double yMeters = EARTHRADIUSINMETERS / 2 * lLog;
-        long numPixels = (long) PIXELSPERTILE << levelOfDetail;
-        double metersPerPixel = EarthCircumferenceInMeters / numPixels;
-        rPnt.x = (int) clip((EarthCircumferenceInMeters / 2 + xMeters)
-                / metersPerPixel + 0.5, 0, numPixels - 1);
-        long tmp = (long) (EarthCircumferenceInMeters / 2 - yMeters);
-        rPnt.y = (int) clip((double) tmp / metersPerPixel + 0.5, 0,
-                numPixels - 1);
-        return rPnt;
-    }
-
-
-
-    public static String formatKM(int d) {
-        if (d == 0) {
-            return "0米";
-        } else if (d < 100) {
-            return d + "米";
-        } else if ((100 <= d) && (d < 1000)) {
-            return d + "米";
-        } else if ((1000 <= d) && (d < 10000)) {
-            return (d / 10) * 10 / 1000.0D + "公里";
-        } else if ((10000 <= d) && (d < 100000)) {
-            return (d / 100) * 100 / 1000.0D + "公里";
-        }
-        return (d / 1000) + "公里";
-    }
-}

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

@@ -1,165 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import android.content.Context;
-import android.os.Bundle;
-import android.view.View;
-
-import androidx.annotation.Nullable;
-
-import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
-import com.mogo.commons.mvp.BaseFragment;
-import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
-import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
-import com.mogo.eagle.core.function.map.R;
-import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.function.overview.ViewModelExtKt;
-import com.mogo.eagle.core.function.overview.vm.OverViewModel;
-
-import java.util.List;
-
-/**
- * @author donghongyu
- * @date 2021/5/19 10:50 上午
- * 全览模式Fragment
- */
-@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
-public class OverviewMapFragment extends BaseFragment
-        implements IMogoSmallMapProvider {
-    private final String TAG = "OverviewMapFragment";
-    protected AMapCustomView mAMapCustomView;
-    private OverViewModel mViewModel;
-
-    @Override
-    public void onAttach(Context context) {
-        super.onAttach(context);
-    }
-
-    @Override
-    protected int getLayoutId() {
-        return R.layout.module_overview_map_fragment;
-    }
-
-    @Override
-    public String getTagName() {
-        return TAG;
-    }
-
-    @Override
-    protected void initViews() {
-
-    }
-
-    @Override
-    protected void initViews(Bundle savedInstanceState) {
-        super.initViews(savedInstanceState);
-        mAMapCustomView = mRootView.findViewById(R.id.smallMapDirectionView);
-        mAMapCustomView.onCreateView(savedInstanceState);
-    }
-
-    @Override
-    public void showPanel() {
-        if (mAMapCustomView != null) {
-            mAMapCustomView.setVisibility(View.VISIBLE);
-        }
-    }
-
-    @Override
-    public void hidePanel() {
-        if (mAMapCustomView != null) {
-            mAMapCustomView.setVisibility(View.GONE);
-        }
-    }
-
-    @Override
-    public void startQueryV2XEvents() {
-        if (isAdded()) {
-            if (mViewModel != null) {
-                mViewModel.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().getSn());
-            }
-        }
-    }
-
-    @Override
-    public void clearV2XMarkers() {
-        if (isAdded()) {
-            if (mAMapCustomView != null) {
-                mAMapCustomView.clearV2XMarkers();
-            }
-            if (mViewModel != null) {
-                mViewModel.stopQueryV2XEvents();
-            }
-        }
-    }
-
-    @Override
-    public void drawablePolyline(List<MogoLatLng> coordinates) {
-    }
-
-    @Override
-    public void clearPolyline() {
-    }
-
-    @Override
-    public void onResume() {
-        super.onResume();
-        if (mAMapCustomView != null) {
-            mAMapCustomView.onResume();
-        }
-        mAMapCustomView.handlePlanningData(InfStructureManager.INSTANCE.getPlanningData());
-    }
-
-    @Override
-    public void onActivityCreated(@Nullable Bundle savedInstanceState) {
-        super.onActivityCreated(savedInstanceState);
-        // 主动查一次全局路径规划的数据
-        CallerAutoPilotManager.INSTANCE.getGlobalPath();
-        queryV2XEvents();
-    }
-
-    private void queryV2XEvents() {
-        mViewModel = ViewModelExtKt.obtainViewModel(this, OverViewModel.class);
-        mViewModel.getV2XEventLiveData().observe(this.getViewLifecycleOwner(), v2XEvents -> {
-            mAMapCustomView.showV2XEventMarkers(v2XEvents);
-        });
-        mViewModel.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().getSn());
-    }
-
-    /**
-     * @return Taxi的下发的轨迹id
-     */
-    private long getLineId() {
-        long lineId = -1;
-        AutopilotControlParameters parameter = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo()
-                .getAutopilotControlParameters();
-        if (parameter != null) {
-            if (parameter.autoPilotLine != null) {
-                lineId = parameter.autoPilotLine.getLineId();
-            }
-        }
-        return lineId;
-    }
-
-    @Override
-    public void onPause() {
-        super.onPause();
-        if (mAMapCustomView != null) {
-            mAMapCustomView.onPause();
-        }
-
-    }
-
-    @Override
-    public void onDestroy() {
-        super.onDestroy();
-        if (mAMapCustomView != null) {
-            mAMapCustomView.onDestroy();
-        }
-        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
-    }
-}

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

@@ -1,362 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP;
-
-import android.content.Context;
-import android.graphics.Color;
-import android.location.Location;
-import android.os.Bundle;
-import android.util.AttributeSet;
-import android.view.LayoutInflater;
-import android.view.MotionEvent;
-import android.view.View;
-import android.widget.RelativeLayout;
-
-import androidx.annotation.Nullable;
-
-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.TextureMapView;
-import com.amap.api.maps.UiSettings;
-import com.amap.api.maps.model.BitmapDescriptorFactory;
-import com.amap.api.maps.model.CameraPosition;
-import com.amap.api.maps.model.CustomMapStyleOptions;
-import com.amap.api.maps.model.LatLng;
-import com.amap.api.maps.model.LatLngBounds;
-import com.amap.api.maps.model.Marker;
-import com.amap.api.maps.model.MarkerOptions;
-import com.amap.api.maps.model.Polyline;
-import com.amap.api.maps.model.PolylineOptions;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
-import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.data.map.MogoLocation;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
-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.mogo.MapAssetStyleUtils;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.widget.RoundLayout;
-import com.mogo.commons.utils.DrivingDirectionUtils;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Timer;
-import java.util.TimerTask;
-
-/**
- * 小地图的方向View
- *
- * @author donghongyu
- * @date 12/14/20 4:40 PM
- */
-public class SmallMapDirectionView
-        extends RelativeLayout
-        implements IMoGoMapLocationListener, ISmallMapDirectionView {
-
-    //小地图名称
-    public static final String TAG = "SmallMapDirectionView";
-
-    private RoundLayout rlSmallMapBorder;
-    private TextureMapView mAMapNaviView;
-    private AMap mAMap;
-    private Marker mCarMarker;
-    private Marker mStartMarker;
-    private Marker mEndMarker;
-
-    private int zoomLevel = 15;
-    private final List<LatLng> mCoordinatesLatLng = new ArrayList<>();
-    private final List<MogoLatLng> mCoordinatesLatLngCurrent = new ArrayList<>();
-    private Polyline mPolyline;
-    private CameraUpdate mCameraUpdate;
-    private Context mContext;
-    private MogoLocation mLocation;
-
-    public SmallMapDirectionView(Context context) {
-        this(context, null);
-    }
-
-    public SmallMapDirectionView(Context context, @Nullable AttributeSet attrs) {
-        this(context, attrs, 0);
-    }
-
-    public SmallMapDirectionView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
-        super(context, attrs, defStyleAttr);
-        try {
-            initView(context);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    private void initView(Context context) {
-        mContext = context;
-        View smpView = LayoutInflater.from(context).inflate(R.layout.module_small_map_view, this);
-
-        mAMapNaviView = smpView.findViewById(R.id.aMapNaviView);
-//        rlSmallMapBorder = findViewById(R.id.rlSmallMapBorder);
-//        rlSmallMapBorder.addView(mAMapNaviView);
-
-        initAMapView();
-
-        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
-        startTask();
-    }
-
-    private void startTask() {
-        Timer mTimer = new Timer();
-        mTimer.schedule(new UpdateLocationTask(), 1000, 200);
-    }
-
-    @Override
-    protected void onDetachedFromWindow() {
-        super.onDetachedFromWindow();
-        // 注册定位监听
-        CallerMapLocationListenerManager.INSTANCE.removeListener(TAG, false);
-    }
-
-    private void initAMapView() {
-        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-        mAMap = mAMapNaviView.getMap();
-        // 关闭地图文字标注
-        mAMap.showMapText(false);
-        // 设置导航地图模式，aMap是地图控制器对象。
-        mAMap.setMapType(AMap.MAP_TYPE_NIGHT);
-        // 关闭显示实时路况图层，aMap是地图控制器对象。
-        mAMap.setTrafficEnabled(false);
-        // 设置 锚点 图标
-        mCarMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo))
-                .anchor(0.5f, 0.5f));
-        mStartMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start)));
-        mEndMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end)));
-        // 加载自定义样式
-        CustomMapStyleOptions customMapStyleOptions = new CustomMapStyleOptions()
-                .setEnable(true)
-                .setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data"))
-                .setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data"));
-        // 设置自定义样式
-        mAMap.setCustomMapStyle(customMapStyleOptions);
-        //设置希望展示的地图缩放级别
-        mAMap.moveCamera(mCameraUpdate);
-        // 设置地图的样式
-        UiSettings uiSettings = mAMap.getUiSettings();
-        uiSettings.setZoomControlsEnabled(false);// 地图缩放级别的交换按钮
-        uiSettings.setAllGesturesEnabled(false);// 所有手势
-        uiSettings.setMyLocationButtonEnabled(false); // 显示默认的定位按钮
-        uiSettings.setLogoBottomMargin(-150); //设置Logo下边界距离屏幕底部的边距,设置为负值即可
-        mAMap.setOnMapLoadedListener(() -> {
-            CallerLogger.INSTANCE.d(M_MAP + TAG, "smp---onMapLoaded");
-            // 加载自定义样式
-            CustomMapStyleOptions customMapStyleOptions1 = new CustomMapStyleOptions()
-                    .setEnable(true)
-                    .setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data"))
-                    .setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data"));
-            // 设置自定义样式
-            mAMap.setCustomMapStyle(customMapStyleOptions1);
-            mAMapNaviView.getMap().setPointToCenter(mAMapNaviView.getWidth() / 2, mAMapNaviView.getHeight() / 2);
-        });
-    }
-
-
-    @Override
-    public boolean onInterceptTouchEvent(MotionEvent ev) {
-        return true;
-    }
-
-
-    @Override
-    public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from, boolean isGps) {
-        if (location == null) {
-            return;
-        }
-        mLocation = location;
-    }
-
-    private class UpdateLocationTask extends TimerTask {
-        @Override
-        public void run() {
-            if (mLocation != null) {
-                MogoLocation location = mLocation;
-                if (mCarMarker == null){
-                    mCarMarker = mAMap.addMarker(new MarkerOptions()
-                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo))
-                            .anchor(0.5f, 0.5f));
-                }
-                if(mCarMarker == null){
-                    return;
-                }
-                LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
-                float bearing = (float) Math.floor(location.getBearing());
-                //更新车辆位置
-                mCarMarker.setPosition(currentLatLng);
-
-                CameraPosition cameraPosition;
-                if (mCoordinatesLatLng.size() > 1) {
-                    // 结束位置
-                    LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
-
-                    float calculateDistance = CoordinateUtils.calculateLineDistance(
-                            endLatLng.latitude, endLatLng.longitude,
-                            currentLatLng.latitude, currentLatLng.longitude
-                    );
-
-                    CallerLogger.INSTANCE.d(M_MAP + TAG, "calculateDistance=" + calculateDistance);
-                    if (calculateDistance <= 5) {
-                        clearPolyline();
-                        mCoordinatesLatLng.clear();
-                    }
-                }
-                cameraPosition = new CameraPosition.Builder().target(mCarMarker.getPosition()).tilt(0).bearing(bearing).zoom(zoomLevel).build();
-                mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
-            }
-        }
-    }
-
-    private void removeLocation(Location latLng) {
-        for (LatLng l : mCoordinatesLatLng) {
-            if (!isPointOnCarFront(latLng, l)) {
-                mCoordinatesLatLng.remove(l);
-            }
-        }
-    }
-
-    public static boolean isPointOnCarFront(Location carLocal, LatLng pointLocal) {
-        double carLon = carLocal.getLongitude();
-        double carLat = carLocal.getLatitude();
-        double poiLon = pointLocal.longitude;
-        double poiLat = pointLocal.latitude;
-        float carAngle = carLocal.getBearing();
-
-        // 计算车辆与点之间的夹角
-        int diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
-                carLon, carLat, poiLon, poiLat, (int) carAngle);
-
-        return diffAngle <= 90;
-    }
-
-
-    @Override
-    public void drawablePolyline() {
-        clearPolyline();
-//       mCoordinatesLatLng.clear();
-//        List<LatLng>  latLngs =  CoordinateConverterFrom84ForList(mContext,coordinates);
-//        mCoordinatesLatLng.addAll(latLngs);
-//        for (LatLng coordinate : mCoordinatesLatLng) {
-//            mCoordinatesLatLng.add(new LatLng(coordinate.getLat(), coordinate.getLon()));
-//        }
-        if (mAMap != null) {
-            if (mCoordinatesLatLng.size() > 2) {
-                // 设置开始结束Marker位置
-                mStartMarker.setPosition(mCoordinatesLatLng.get(0));
-                mEndMarker.setPosition(mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1));
-                mStartMarker.setToTop();
-                mStartMarker.setVisible(true);
-                mEndMarker.setVisible(true);
-                mEndMarker.setToTop();
-
-
-                //存放所有点的经纬度
-                LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
-
-                for (int i = 0; i < mCoordinatesLatLng.size(); i++) {
-                    //把所有点都include进去（LatLng类型）
-                    boundsBuilder.include(mCoordinatesLatLng.get(i));
-                }
-                //第二个参数为四周留空宽度
-                mAMap.animateCamera(CameraUpdateFactory.newLatLngBounds(boundsBuilder.build(), 30));
-                // 绘制线
-                mPolyline = mAMap.addPolyline(
-                        new PolylineOptions()
-                                .addAll(mCoordinatesLatLng)
-                                .color(Color.argb(255, 31, 127, 255))
-                                .width(12));
-
-            }
-//            else {
-//                //设置希望展示的地图缩放级别
-//                mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(mCoordinatesLatLng.get(0), zoomLevel));
-//            }
-        }
-    }
-
-
-    public LatLng CoordinateConverterFrom84(Context mContext, MogoLatLng mogoLatLng) {
-        CoordinateConverter mCoordinateConverter = new CoordinateConverter(mContext);
-        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS);
-        mCoordinateConverter.coord(new LatLng(mogoLatLng.lat, mogoLatLng.lon));
-        return mCoordinateConverter.convert();
-    }
-
-    public List<LatLng> CoordinateConverterFrom84ForList(Context mContext, List<MogoLatLng> mogoLatLngList) {
-        List<LatLng> list = new ArrayList<>();
-        for (MogoLatLng m : mogoLatLngList) {
-            LatLng mogoLatLng = CoordinateConverterFrom84(mContext, m);
-            list.add(mogoLatLng);
-        }
-        return list;
-    }
-
-    @Override
-    public void clearPolyline() {
-//        mCoordinatesLatLng.clear();
-        if (mPolyline != null) {
-            mPolyline.remove();
-        }
-        if (mStartMarker != null) {
-            mStartMarker.setVisible(false);
-        }
-        if (mEndMarker != null) {
-            mEndMarker.setVisible(false);
-        }
-    }
-
-    public void resetPolyLine() {
-        mCoordinatesLatLng.clear();
-        if (mPolyline != null) {
-            mPolyline.remove();
-        }
-        if (mStartMarker != null) {
-            mStartMarker.setVisible(false);
-        }
-        if (mEndMarker != null) {
-            mEndMarker.setVisible(false);
-        }
-    }
-
-    public void onCreateView(Bundle savedInstanceState) {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onCreate(savedInstanceState);
-        }
-    }
-
-    public void onResume() {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onResume();
-        }
-    }
-
-    public void onPause() {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onPause();
-        }
-    }
-
-    public void onDestroy() {
-        if (mAMapNaviView != null) {
-            mAMapNaviView.onDestroy();
-        }
-    }
-
-    public void convert(List<MogoLatLng> coordinates) {
-        mCoordinatesLatLng.clear();
-        List<LatLng> latLngs = CoordinateConverterFrom84ForList(mContext, coordinates);
-        mCoordinatesLatLng.addAll(latLngs);
-    }
-
-}

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

@@ -1,204 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP;
-
-import android.content.Context;
-import android.os.Bundle;
-import android.view.View;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.commons.mvp.BaseFragment;
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
-import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
-import com.mogo.eagle.core.data.map.MogoLatLng;
-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.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
-import com.mogo.eagle.core.function.map.R;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-
-import org.jetbrains.annotations.NotNull;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import mogo.telematics.pad.MessagePad;
-import mogo_msg.MogoReportMsg;
-import system_master.SystemStatusInfo;
-
-/**
- * @author donghongyu
- * @date 2021/5/19 10:50 上午
- */
-@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_SMP)
-public class SmallMapFragment extends BaseFragment
-        implements IMogoSmallMapProvider, IMoGoAutopilotPlanningListener,
-        IMoGoAutopilotStatusListener {
-    private final String TAG = "SmallMapFragment";
-    protected SmallMapDirectionView mSmallMapDirectionView;
-    private int autoPilotStatus = 0;
-
-    @Override
-    public void onAttach(Context context) {
-        super.onAttach(context);
-    }
-
-    @Override
-    protected int getLayoutId() {
-        return R.layout.module_small_map_fragment;
-    }
-
-    @Override
-    public String getTagName() {
-        return TAG;
-    }
-
-    @Override
-    protected void initViews() {
-    }
-
-    @Override
-    protected void initViews(Bundle savedInstanceState) {
-        super.initViews(savedInstanceState);
-        mSmallMapDirectionView = mRootView.findViewById(R.id.smallMapDirectionView);
-        mSmallMapDirectionView.onCreateView(savedInstanceState);
-        CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
-        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG,this);
-    }
-
-    @Override
-    public void showPanel() {
-        if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.setVisibility(View.VISIBLE);
-        }
-    }
-
-    @Override
-    public void hidePanel() {
-        if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.setVisibility(View.GONE);
-        }
-    }
-
-    @Override
-    public void drawablePolyline(List<MogoLatLng> coordinates) {
-        if (mSmallMapDirectionView != null) {
-            UiThreadHandler.post(new Runnable() {
-                @Override
-                public void run() {
-                    mSmallMapDirectionView.convert(coordinates);
-                    mSmallMapDirectionView.drawablePolyline();
-                }
-            });
-        }
-    }
-
-    @Override
-    public void clearPolyline() {
-        if (mSmallMapDirectionView != null) {
-            UiThreadHandler.post(() -> mSmallMapDirectionView.clearPolyline());
-        }
-    }
-
-    @Override
-    public void onResume() {
-        super.onResume();
-        if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.onResume();
-        }
-    }
-
-    @Override
-    public void onPause() {
-        super.onPause();
-        if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.onPause();
-        }
-
-    }
-
-    @Override
-    public void onDestroy() {
-        super.onDestroy();
-        if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.onDestroy();
-        }
-        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
-    }
-
-    @Override
-    public void onAutopilotTrajectory(List<MessagePad.TrajectoryPoint> trajectoryInfos) {
-
-    }
-
-    @Override
-    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-        int  tempStatus =   autoPilotStatusInfo.getPilotmode();
-//        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" autoPilotStatus:"+autoPilotStatus);
-        if (tempStatus != 1) {
-//            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" clearPolyline");
-            clearPolyline();
-        }else if (tempStatus  == 1 && autoPilotStatus == 0){
-//            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
-            CallerAutoPilotManager.INSTANCE.getGlobalPath();
-        }
-        autoPilotStatus = tempStatus;
-    }
-
-    @Override
-    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
-
-    }
-
-    @Override
-    public void onAutopilotSNRequest() {
-
-    }
-
-    @Override
-    public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
-
-    }
-
-    @Override
-    public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
-    }
-
-    @Override
-    public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
-        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting");
-        if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
-            return;
-        }
-        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+globalPathResp.getWayPointsList().size());
-
-        List<MogoLatLng> latLngList = new ArrayList<>();
-        for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
-            latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
-        }
-        if (latLngList.size() > 0) {
-            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+"drawablePolyline");
-            drawablePolyline(latLngList);
-        } else {
-            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+"clearPolyline");
-            clearPolyline();
-        }
-    }
-
-    @Override
-    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-
-    }
-
-    @Override
-    public void onAutopilotRouteLineId(long lineId) {
-
-    }
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/ISmallMapDirectionView.java

@@ -1,18 +0,0 @@
-package com.mogo.eagle.core.function.smp.view;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/6/24 11:33 上午
- */
-public interface ISmallMapDirectionView {
-
-    /**
-     * 绘制路径线
-     */
-    void drawablePolyline();
-
-    /**
-     * 清除路径线
-     */
-    void clearPolyline();
-}

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

@@ -0,0 +1,374 @@
+package com.mogo.eagle.core.function.smp.view
+
+import android.content.Context
+import android.graphics.Color
+import android.os.Bundle
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.MotionEvent
+import android.widget.RelativeLayout
+import androidx.annotation.UiThread
+import com.amap.api.maps.*
+import com.amap.api.maps.model.*
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.data.map.MogoLocation
+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.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
+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.map.R
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
+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.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import mogo.telematics.pad.MessagePad
+import kotlin.math.floor
+
+class SmallMapView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
+    IMoGoPlanningRottingListener,
+    IMoGoAutopilotStatusListener {
+
+    private var mAMapNaviView: TextureMapView? = null
+    private var mAMap: AMap? = null
+    private var mCarMarker: Marker? = null
+    private var mStartMarker: Marker? = null
+    private var mEndMarker: Marker? = null
+    private val zoomLevel = 17
+    private val mCoordinatesLatLng: MutableList<LatLng> = ArrayList()
+    private var mPolyline: Polyline? = null
+    private var mCameraUpdate: CameraUpdate? = null
+    private var mContext: Context? = null
+    private var mLocation: MogoLocation? = null
+
+    @Volatile
+    private var autoPilotStatus = 0
+
+    companion object {
+        const val TAG = "SmallMapView"
+    }
+
+    init {
+        try {
+            initView(context)
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    // =================必须通知高德地图生命周期的变化=================
+    fun onCreateView(savedInstanceState: Bundle?) {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onCreate(savedInstanceState)
+        }
+    }
+
+    fun onResume() {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onResume()
+        }
+    }
+
+    fun onPause() {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onPause()
+        }
+    }
+
+    fun onDestroy() {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onDestroy()
+        }
+    }
+    // =================必须通知高德地图生命周期的变化=================
+
+    fun convert(coordinates: List<MogoLatLng>) {
+        mCoordinatesLatLng.clear()
+        val latLngs = coordinateConverterFrom84ForList(mContext, coordinates)
+        mCoordinatesLatLng.addAll(latLngs)
+    }
+
+    @UiThread
+    fun drawablePolyline() {
+        clearPolyline()
+        if (mAMap != null) {
+            if (mCoordinatesLatLng.size >= 2) {
+                // 设置开始结束Marker位置
+                mStartMarker!!.position = mCoordinatesLatLng[0]
+                mEndMarker!!.position = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
+                mStartMarker!!.setToTop()
+                mStartMarker!!.isVisible = true
+                mEndMarker!!.isVisible = true
+                mEndMarker!!.setToTop()
+
+
+                //存放所有点的经纬度
+                val boundsBuilder = LatLngBounds.Builder()
+                for (i in mCoordinatesLatLng.indices) {
+                    //把所有点都include进去（LatLng类型）
+                    boundsBuilder.include(mCoordinatesLatLng[i])
+                }
+                //第二个参数为四周留空宽度
+                mAMap!!.animateCamera(
+                    CameraUpdateFactory.newLatLngBounds(
+                        boundsBuilder.build(),
+                        30
+                    )
+                )
+                // 绘制线
+                mPolyline = mAMap!!.addPolyline(
+                    PolylineOptions()
+                        .addAll(mCoordinatesLatLng)
+                        .color(Color.argb(255, 31, 127, 255))
+                        .width(12f)
+                )
+                CallerLogger.d(
+                    SceneConstant.M_MAP + TAG, "SmallMapView  drawPolyline size is = ${mCoordinatesLatLng.size} ")
+            }
+        }
+    }
+
+    @UiThread
+    fun clearPolyline() {
+        CallerLogger.d(
+            SceneConstant.M_MAP + TAG, "SmallMapView  clearPolyline mPolyline -----> ")
+        if (mPolyline != null) {
+            mPolyline!!.remove()
+        }
+        if (mStartMarker != null) {
+            mStartMarker!!.isVisible = false
+        }
+        if (mEndMarker != null) {
+            mEndMarker!!.isVisible = false
+        }
+    }
+
+    private fun initView(context: Context) {
+        mContext = context
+        val smpView = LayoutInflater.from(context).inflate(R.layout.module_small_map_view, this)
+        mAMapNaviView = smpView.findViewById(R.id.aMapNaviView)
+        initAMapView()
+
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, this)
+        CallerPlanningRottingListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    private fun initAMapView() {
+        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel.toFloat())
+        mAMap = mAMapNaviView!!.map
+        // 关闭地图文字标注
+        mAMap?.showMapText(false)
+        // 设置导航地图模式，aMap是地图控制器对象。
+        mAMap?.mapType = AMap.MAP_TYPE_NIGHT
+        // 关闭显示实时路况图层，aMap是地图控制器对象。
+        mAMap?.isTrafficEnabled = false
+        // 设置 锚点 图标
+        mCarMarker = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
+            || AppIdentityModeUtils.isShuttle(FunctionBuildConfig.appIdentityMode)
+            || AppIdentityModeUtils.isCharter(FunctionBuildConfig.appIdentityMode)) {
+            mAMap?.addMarker(
+                MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
+                    .anchor(0.5f, 0.5f)
+            )
+        } else {
+            mAMap?.addMarker(
+                MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
+                    .anchor(0.5f, 0.5f)
+            )
+        }
+        mStartMarker = mAMap?.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start))
+        )
+        mEndMarker = mAMap?.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end))
+        )
+        // 加载自定义样式
+        val customMapStyleOptions = CustomMapStyleOptions()
+            .setEnable(true)
+            .setStyleData(MapAssetStyleUtils.getAssetsStyle(context, "over_view_style.data"))
+            .setStyleExtraData(
+                MapAssetStyleUtils.getAssetsExtraStyle(
+                    context,
+                    "over_view_style_extra.data"
+                )
+            )
+        // 设置自定义样式
+        mAMap?.setCustomMapStyle(customMapStyleOptions)
+        //设置希望展示的地图缩放级别
+        mAMap?.moveCamera(mCameraUpdate)
+        // 设置地图的样式
+        val uiSettings = mAMap?.uiSettings
+        uiSettings?.isZoomControlsEnabled = false // 地图缩放级别的交换按钮
+        uiSettings?.setAllGesturesEnabled(false) // 所有手势
+        uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
+        uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+        mAMap?.setOnMapLoadedListener {
+            CallerLogger.d(
+                SceneConstant.M_MAP + TAG,
+                "smp---onMapLoaded"
+            )
+            // 加载自定义样式
+            val customMapStyleOptions1 = CustomMapStyleOptions()
+                .setEnable(true)
+                .setStyleData(MapAssetStyleUtils.getAssetsStyle(context, "over_view_style.data"))
+                .setStyleExtraData(
+                    MapAssetStyleUtils.getAssetsExtraStyle(
+                        context,
+                        "over_view_style_extra.data"
+                    )
+                )
+            // 设置自定义样式
+            mAMap?.setCustomMapStyle(customMapStyleOptions1)
+            mAMapNaviView!!.map.setPointToCenter(
+                mAMapNaviView!!.width / 2,
+                mAMapNaviView!!.height / 2
+            )
+        }
+    }
+
+    private fun coordinateConverterFrom84(mContext: Context?, mogoLatLng: MogoLatLng): LatLng {
+        val mCoordinateConverter = CoordinateConverter(mContext)
+        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS)
+        mCoordinateConverter.coord(LatLng(mogoLatLng.lat, mogoLatLng.lon))
+        return mCoordinateConverter.convert()
+    }
+
+    private fun coordinateConverterFrom84ForList(
+        mContext: Context?,
+        mogoLatLngList: List<MogoLatLng>
+    ): List<LatLng> {
+        val list: MutableList<LatLng> = ArrayList()
+        for (m in mogoLatLngList) {
+            val mogoLatLng = coordinateConverterFrom84(mContext, m)
+            list.add(mogoLatLng)
+        }
+        return list
+    }
+
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        if (mogoLocation == null) {
+            return
+        }
+        mLocation = mogoLocation
+        if (mCarMarker == null) {
+            mCarMarker =
+                if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+                    mAMap?.addMarker(
+                        MarkerOptions()
+                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
+                            .anchor(0.5f, 0.5f)
+                    )
+                } else {
+                    mAMap?.addMarker(
+                        MarkerOptions()
+                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
+                            .anchor(0.5f, 0.5f)
+                    )
+                }
+        }
+        if (mCarMarker == null) {
+            return
+        }
+        UiThreadHandler.post {
+            val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+            val bearing = floor(mLocation!!.heading).toFloat()
+            //更新车辆位置
+            mCarMarker!!.position = currentLatLng
+            if (mCoordinatesLatLng.size > 1) {
+                // 结束位置
+                val endLatLng = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
+                val calculateDistance = CoordinateUtils.calculateLineDistance(
+                    endLatLng.latitude, endLatLng.longitude,
+                    currentLatLng.latitude, currentLatLng.longitude
+                )
+                CallerLogger.d(
+                    SceneConstant.M_MAP + TAG,
+                    "calculateDistance=$calculateDistance"
+                )
+                if (calculateDistance <= 5) {
+                    CallerLogger.d(
+                        SceneConstant.M_MAP + TAG, "onChassisLocationGCJ02 ----->  calculateDistance <= 5 ")
+                    clearPolyline()
+                    mCoordinatesLatLng.clear()
+                }
+            }
+            val cameraPosition: CameraPosition =
+                CameraPosition.Builder()
+                    .target(mCarMarker!!.position)
+                    .tilt(0f)
+                    .bearing(bearing)
+                    .zoom(zoomLevel.toFloat())
+                    .build()
+            mAMap?.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+        }
+
+    }
+
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        val tempStatus = autoPilotStatusInfo.pilotmode
+        if (tempStatus != 1) {
+            UiThreadHandler.post {
+                CallerLogger.d(
+                    SceneConstant.M_MAP + TAG, "onAutopilotStatusResponse tempStatus = $tempStatus ---clearPolyline() ")
+                clearPolyline()
+            }
+        } else if (tempStatus == 1 && autoPilotStatus == 0) {
+            getGlobalPath()
+        }
+        autoPilotStatus = tempStatus
+    }
+
+    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
+        CallerLogger.d(
+            SceneConstant.M_MAP + TAG, "SmallMapView globalPathResp = $globalPathResp")
+        if (globalPathResp == null || globalPathResp.wayPointsList.size == 0) {
+            return
+        }
+        val latLngList: MutableList<MogoLatLng> = ArrayList()
+        for (routeModel in globalPathResp.wayPointsList) {
+            latLngList.add(MogoLatLng(routeModel.latitude, routeModel.longitude))
+        }
+        CallerLogger.d(
+            SceneConstant.M_MAP + TAG, "SmallMapView latLngList.size = ${latLngList.size}")
+        if (latLngList.size > 0) {
+            UiThreadHandler.post {
+                convert(latLngList)
+                drawablePolyline()
+            }
+        } else {
+            UiThreadHandler.post {
+                CallerLogger.d(
+                    SceneConstant.M_MAP + TAG, "SmallMapView latLngList.size = ${latLngList.size} clearPolyline ---->")
+                clearPolyline()
+            }
+        }
+    }
+
+    override fun onInterceptTouchEvent(ev: MotionEvent?): Boolean {
+        return true
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        CallerPlanningRottingListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/PlanningDataUtils.kt

@@ -0,0 +1,50 @@
+package com.mogo.eagle.core.function.utils
+
+import android.content.Context
+import mogo.telematics.pad.MessagePad
+import org.json.JSONArray
+import org.json.JSONException
+import java.io.IOException
+import java.io.InputStream
+
+object PlanningDataUtils {
+
+    @JvmStatic
+    fun test(context: Context?): List<MessagePad.Location> {
+        if (context == null) return emptyList()
+        val list: MutableList<MessagePad.Location> = ArrayList()
+        val jsonStr = getAssetsString(context, "planningDataTest.txt")
+        try {
+            val jsonElements = JSONArray(jsonStr)
+            for (i in 0 until jsonElements.length()) {
+                val s = jsonElements.getJSONObject(i)
+                val builder = MessagePad.Location.newBuilder()
+                builder.latitude = s.getDouble("latitude")
+                builder.longitude = s.getDouble("longitude")
+                list.add(builder.build())
+            }
+        } catch (e: JSONException) {
+            e.printStackTrace()
+        }
+        return list
+    }
+
+    private fun getAssetsString(context: Context, fileName: String): String {
+        var buffer: ByteArray? = null
+        var istream: InputStream? = null
+        try {
+            istream = context.resources.assets.open(fileName)
+            buffer = ByteArray(istream.available())
+            istream.read(buffer)
+        } catch (e: IOException) {
+            e.printStackTrace()
+        } finally {
+            try {
+                istream?.close()
+            } catch (e: IOException) {
+                e.printStackTrace()
+            }
+        }
+        return String(buffer!!)
+    }
+}

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

@@ -0,0 +1,131 @@
+package com.mogo.eagle.core.function.view
+
+import android.content.Context
+import android.os.Bundle
+import android.util.AttributeSet
+import android.util.Log
+import androidx.lifecycle.LifecycleObserver
+import chassis.Chassis
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
+import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
+import com.mogo.map.MogoMapView
+
+
+class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context, attrs),
+    IMoGoSkinModeChangeListener,
+    IMoGoChassisLocationWGS84Listener, IMoGoChassisLamplightListener, LifecycleObserver {
+
+    companion object {
+        private const val TAG = "MapBizView"
+    }
+
+    override fun onCreate(bundle: Bundle?) {
+        super.onCreate(bundle)
+        map?.uiController?.showMyLocation(true)
+        initMapView()
+
+        CallerSkinModeListenerManager.addListener(TAG, this)
+        CallerChassisLocationWGS84ListenerManager.addListener(TAG, 20,this)
+        CallerChassisLamplightListenerManager.addListener(TAG, this)
+
+    }
+
+    private fun initMapView() {
+        map?.uiSettings?.let {
+            //设置所有手势是否可用
+            it.setAllGesturesEnabled(true)
+            //设置指南针是否可见。
+            it.setCompassEnabled(false)
+            //设置室内地图楼层切换控件是否可见。
+            it.setIndoorSwitchEnabled(true)
+            //设置定位按钮是否可见。
+            it.setMyLocationButtonEnabled(false)
+            //设置旋转手势是否可用。
+            it.setRotateGesturesEnabled(false)
+            //设置比例尺控件是否可见
+            it.setScaleControlsEnabled(true)
+            //设置拖拽手势是否可用。
+            it.setScrollGesturesEnabled(true)
+            //设置倾斜手势是否可用。
+            it.setTiltGesturesEnabled(true)
+            //设置缩放按钮是否可见。
+            it.setZoomControlsEnabled(false)
+            //设置双指缩放手势是否可用。
+            it.setZoomGesturesEnabled(true)
+        }
+    }
+
+    override fun onSaveInstanceState(outState: Bundle?) {
+        super.onSaveInstanceState(outState)
+    }
+
+    override fun onResume() {
+        super.onResume()
+    }
+
+    override fun onPause() {
+        super.onPause()
+    }
+
+    override fun onSkinModeChange(skinMode: Int) {
+        if (skinMode == 0) {
+            CallerMapUIServiceManager.getMapUIController()?.stepInVrMode(false)
+        } else if (skinMode == 1) {
+            CallerMapUIServiceManager.getMapUIController()?.stepInVrMode(true)
+        }
+    }
+
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
+        // 跟新地图控件
+        setExtraGPSData(gnssInfo)
+    }
+
+    private var currentLevel:Int = 0
+
+    override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
+        super.onAutopilotLightSwitchData(lightSwitch)
+        lightSwitch?.let {
+            when (it.number) {
+                Chassis.LightSwitch.LIGHT_LEFT_VALUE -> { //左转灯
+                    CallerVisualAngleManager.showTurning(true)
+                    turn(1)
+                }
+                Chassis.LightSwitch.LIGHT_RIGHT_VALUE -> { //右转灯
+                    CallerVisualAngleManager.showTurning(true)
+                    turn(2)
+                }
+                Chassis.LightSwitch.LIGHT_NONE_VALUE -> {
+                    CallerVisualAngleManager.showTurning(false)
+                    turn(0)
+                }
+            }
+        }
+    }
+
+    private fun turn(lightNum: Int) {
+        if (currentLevel != lightNum) {
+            when (lightNum) {
+                0 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(3, 500)
+                1 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(4, 500)
+                2 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(2, 500)
+            }
+            currentLevel = lightNum
+        }
+    }
+
+    override fun onDestroy() {
+        // 先取消注册数据，再onDestroy
+        CallerSkinModeListenerManager.removeListener(TAG)
+        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
+        CallerChassisLamplightListenerManager.removeListener(TAG)
+        super.onDestroy()
+    }
+
+}

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

@@ -0,0 +1,699 @@
+package com.mogo.eagle.core.function.view
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.graphics.Bitmap
+import android.graphics.Canvas
+import android.os.Bundle
+import android.util.AttributeSet
+import android.util.Log
+import android.view.LayoutInflater
+import android.view.MotionEvent
+import android.view.View
+import android.widget.RelativeLayout
+import android.widget.TextView
+import androidx.annotation.MainThread
+import androidx.core.graphics.drawable.toBitmap
+import ch.hsr.geohash.GeoHash
+import com.amap.api.maps.AMap
+import com.amap.api.maps.CameraUpdate
+import com.amap.api.maps.CameraUpdateFactory
+import com.amap.api.maps.TextureMapView
+import com.amap.api.maps.model.*
+import com.mogo.eagle.core.data.map.Infrastructure
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.data.v2x.V2XEventData
+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.biz.IFuncBizProvider
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
+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.biz.CallerFuncBizListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showVideoDialog
+import com.mogo.eagle.core.function.map.R
+import com.mogo.eagle.core.function.smp.MakerWithCount
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.callback
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.coordinateConverterWgsToGcj
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lastArrivedIndex
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lonLatHeading
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
+import com.mogo.eagle.core.function.smp.V2XMarkerView
+import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import me.jessyan.autosize.utils.AutoSizeUtils
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 全览地图View
+ *
+ * @author chenfufeng
+ */
+class OverMapView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
+    IMoGoPlanningRottingListener {
+
+    // =============自定义属性相关=============
+    private var mapStylePath: String? = null
+    private var mapStyleExtraPath: String? = null
+    private var carDrawable: Int = -1
+    private var compassDrawable: Int = -1
+    private var startPointDrawable: Int = -1
+    private var endPointDrawable: Int = -1
+    private var arrivedDrawable: Int = -1
+    private var unArrivedDrawable: Int = -1
+    private var resetDrawable: Int = -1
+    private var resetDrawableMarginRight: Int = -1
+    private var resetDrawableMarginBottom: Int = -1
+    private var isClearArrived: Boolean = false
+    private var leftPadding: Int = 100
+    private var topPadding: Int = 100
+    private var rightPadding: Int = 100
+    private var bottomPadding: Int = 100
+
+    private var mMapView: TextureMapView? = null
+    private var mAMap: AMap? = null
+    private val zoomLevel = 15
+    private var mCameraUpdate: CameraUpdate? = null
+    private var mContext: Context? = null
+    private var mTilt = 0f
+    private var overLayerView: TextView? = null
+
+    // 全局路径规划中的GeoHash网格
+    private val pathMap: MutableMap<String?, ArrayList<Infrastructure>?> = HashMap()
+    private val posInfMap: MutableMap<LatLng?, ArrayList<Infrastructure>?> = HashMap()
+
+    private var geoHashInfMap: HashMap<String, java.util.ArrayList<Infrastructure>>? = null
+
+    // =============绘制轨迹线相关=============
+    private var mCarMarker: Marker? = null
+    private var mCompassMarker: Marker? = null
+    private var mStartMarker: Marker? = null
+    private var mEndMarker: Marker? = null
+    private var mBottomPolyline: Polyline? = null
+    private var mCoveredPolyline: Polyline? = null
+
+    // 计算索引并设置对应的Bitmap
+    var arrivedBitmap: BitmapDescriptor? = null
+    var unArrivedBitmap: BitmapDescriptor? = null
+    var transparentBitmap: BitmapDescriptor? = null
+
+    // 绘制轨迹线的集合
+    private val textureList: MutableList<BitmapDescriptor?> = ArrayList()
+    private val texIndexList: MutableList<Int> = ArrayList()
+    private var mLocation: MogoLocation? = null
+    private var isFirstLocation = true
+    var mCustomMapStyleOptions: CustomMapStyleOptions? = null
+    var currMarkerList: ArrayList<Marker>? = null
+    var siteMarkerList: ArrayList<Marker>? = null
+
+    companion object {
+        const val TAG = "OverMapView"
+    }
+
+    init {
+        try {
+            val typedArray = context.obtainStyledAttributes(attrs, R.styleable.OverMapView)
+            mapStylePath = typedArray.getString(R.styleable.OverMapView_mapStylePath)
+            mapStyleExtraPath = typedArray.getString(R.styleable.OverMapView_mapStyleExtraPath)
+            carDrawable = typedArray.getResourceId(R.styleable.OverMapView_carDrawable, -1)
+            compassDrawable = typedArray.getResourceId(R.styleable.OverMapView_compassDrawable, -1)
+            startPointDrawable =
+                typedArray.getResourceId(R.styleable.OverMapView_startPointDrawable, -1)
+            endPointDrawable =
+                typedArray.getResourceId(R.styleable.OverMapView_endPointDrawable, -1)
+            arrivedDrawable = typedArray.getResourceId(R.styleable.OverMapView_arrivedDrawable, -1)
+            unArrivedDrawable =
+                typedArray.getResourceId(R.styleable.OverMapView_unArrivedDrawable, -1)
+            resetDrawable = typedArray.getResourceId(R.styleable.OverMapView_resetDrawable, -1)
+            resetDrawableMarginRight = typedArray.getResourceId(
+                R.styleable.OverMapView_resetDrawableMarginRight,
+                AutoSizeUtils.dp2px(context, 40f)
+            )
+            resetDrawableMarginBottom = typedArray.getResourceId(
+                R.styleable.OverMapView_resetDrawableMarginBottom,
+                AutoSizeUtils.dp2px(context, 40f)
+            )
+            isClearArrived = typedArray.getBoolean(R.styleable.OverMapView_isClearArrived, false)
+            leftPadding = typedArray.getInt(R.styleable.OverMapView_leftPadding, 100)
+            topPadding = typedArray.getInt(R.styleable.OverMapView_topPadding, 100)
+            rightPadding = typedArray.getInt(R.styleable.OverMapView_rightPadding, 100)
+            bottomPadding = typedArray.getInt(R.styleable.OverMapView_bottomPadding, 100)
+            typedArray.recycle()
+            initView(context)
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    // =================必须通知高德地图生命周期的变化=================
+    fun onCreateView(savedInstanceState: Bundle?) {
+        if (mMapView != null) {
+            mMapView!!.onCreate(savedInstanceState)
+        }
+    }
+
+    fun onResume() {
+        if (mMapView != null) {
+            mMapView!!.onResume()
+        }
+    }
+
+    fun onPause() {
+        if (mMapView != null) {
+            mMapView!!.onPause()
+        }
+    }
+
+    fun onDestroy() {
+        if (mMapView != null) {
+            mMapView!!.onDestroy()
+        }
+        if (mMapView != null) {
+            mMapView!!.onDestroy()
+        }
+    }
+    // =================必须通知高德地图生命周期的变化=================
+
+    /**
+     * 隐藏右下角的重置View
+     */
+    fun hideResetView() {
+        overLayerView?.visibility = View.GONE
+    }
+
+    /**
+     * siteLatLngs: 高德坐标集合
+     * bitmap: Marker对应的图片
+     * (anchorX,anchorY)为锚点坐标，各自取值范围为[0,1]，默认值为(0.5,1)
+     */
+    @MainThread
+    fun drawSiteMarkers(
+        siteLatLngs: List<LatLng>?,
+        bitmap: Bitmap,
+        anchorX: Float,
+        anchorY: Float
+    ) {
+        if (siteLatLngs.isNullOrEmpty()) return
+        clearSiteMarkers()
+        val markerOptionsList = ArrayList<MarkerOptions>()
+        for (latLng in siteLatLngs) {
+            val markerOption = MarkerOptions()
+            markerOption.position(latLng)
+            markerOption.anchor(anchorX, anchorY)
+            markerOption.icon(
+                BitmapDescriptorFactory.fromBitmap(bitmap)
+            )
+            markerOptionsList.add(markerOption)
+        }
+        siteMarkerList = mAMap!!.addMarkers(markerOptionsList, false)
+    }
+
+    @MainThread
+    fun clearSiteMarkers() {
+        if (siteMarkerList != null) {
+            for (marker in siteMarkerList!!) {
+                marker.destroy()
+            }
+            siteMarkerList = null
+        }
+    }
+
+    /**
+     * 清空线路并隐藏起、终点
+     */
+    fun clearCustomPolyline() {
+        if (mBottomPolyline != null) {
+            mBottomPolyline!!.remove()
+        }
+        if (mCoveredPolyline != null) {
+            mCoveredPolyline!!.remove()
+        }
+        mStartMarker?.isVisible = false
+        mEndMarker?.isVisible = false
+        MarkerDrawerManager.stopLoopCalCarLocation()
+        planningPoints.clear()
+        lastArrivedIndex = -1
+    }
+
+    @SuppressLint("UseCompatLoadingForDrawables")
+    private fun initView(context: Context) {
+        mContext = context
+        val smpView = LayoutInflater.from(context).inflate(R.layout.module_overview_map_view, this)
+        mMapView = smpView.findViewById(R.id.aMapView)
+        overLayerView = findViewById(R.id.overLayer)
+        overLayerView?.background =
+            resources.getDrawable(if (resetDrawable != -1) resetDrawable else R.drawable.amap_reset)
+        arrivedBitmap =
+            BitmapDescriptorFactory.fromResource(if (arrivedDrawable != -1) arrivedDrawable else R.drawable.taxi_map_arrow_arrived)
+        unArrivedBitmap =
+            BitmapDescriptorFactory.fromResource(if (unArrivedDrawable != -1) unArrivedDrawable else R.drawable.taxi_map_arrow_un_arrive)
+        transparentBitmap = BitmapDescriptorFactory.fromBitmap(
+            resources.getDrawable(R.drawable.transparent_background, null)
+                .toBitmap(AutoSizeUtils.dp2px(context, 32f), AutoSizeUtils.dp2px(context, 230f))
+        )
+        CallerPlanningRottingListenerManager.addListener(TAG, this)
+        initAMapView(context)
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+        //设置全览模式
+        overLayerView?.setOnClickListener { displayCustomOverView() }
+        overLayerView?.let {
+            it.background =
+                resources.getDrawable(if (resetDrawable != -1) resetDrawable else R.drawable.amap_reset)
+            val layoutParams = it.layoutParams
+            layoutParams as RelativeLayout.LayoutParams
+            layoutParams.rightMargin = resetDrawableMarginRight
+            layoutParams.bottomMargin = resetDrawableMarginBottom
+            it.layoutParams = layoutParams
+        }
+    }
+
+    private fun initAMapView(context: Context) {
+        Log.d(TAG, "initAMapView")
+        mTilt = 30f
+        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel.toFloat())
+        mAMap = mMapView!!.map
+        mCustomMapStyleOptions = CustomMapStyleOptions()
+
+        if (!mapStylePath.isNullOrEmpty() && !mapStyleExtraPath.isNullOrEmpty()) {
+            mCustomMapStyleOptions!!.styleData =
+                MapAssetStyleUtils.getAssetsStyle(getContext(), mapStylePath)
+            mCustomMapStyleOptions!!.styleExtraData =
+                MapAssetStyleUtils.getAssetsExtraStyle(getContext(), mapStyleExtraPath)
+        }
+        mAMap?.setOnMapLoadedListener {
+            Log.d(TAG, "---onMapLoaded---")
+            if (mCustomMapStyleOptions != null) {
+                // 加载自定义样式
+                mCustomMapStyleOptions!!.isEnable = true
+                // 设置自定义样式
+                mAMap?.setCustomMapStyle(mCustomMapStyleOptions)
+            }
+            // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
+            mAMap?.isTrafficEnabled = false
+            mAMap?.showBuildings(true)
+            mAMap?.animateCamera(CameraUpdateFactory.changeTilt(mTilt))
+        }
+        setUpMap()
+        customOptions()
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerFuncBizListenerManager.addListener(TAG, object : IFuncBizProvider {
+            override fun onInfStructures(map: HashMap<String, ArrayList<Infrastructure>>?) {
+                geoHashInfMap = map
+            }
+
+            override fun onV2XEvents(v2XEventData: List<V2XEventData>?) {
+                showV2XEventMarkers(v2XEventData)
+            }
+        })
+        // 主动查一次全局路径规划的数据
+        getGlobalPath()
+    }
+
+    private fun setUpMap() {
+        // 地图文字标注
+        mAMap!!.showMapText(true)
+        //设置希望展示的地图缩放级别
+        mAMap!!.moveCamera(mCameraUpdate)
+        //设置地图的样式
+        val uiSettings = mAMap!!.uiSettings
+        //地图缩放级别的交换按钮
+        uiSettings.isZoomControlsEnabled = false
+        //所有手势
+        uiSettings.setAllGesturesEnabled(true)
+        //隐藏指南针
+        uiSettings.isCompassEnabled = false
+        //设置倾斜手势是否可用。
+        uiSettings.isTiltGesturesEnabled = true
+        //隐藏默认的定位按钮
+        uiSettings.isMyLocationButtonEnabled = false
+        //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+        uiSettings.setLogoBottomMargin(-150)
+        Log.d(TAG, "before  onMapLoaded")
+    }
+
+    /**
+     * 自定义导航View和路况状态
+     */
+    private fun customOptions() {
+        mCarMarker = mAMap!!.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(if (carDrawable != -1) carDrawable else R.drawable.map_car_icon))
+                .anchor(0.5f, 0.5f)
+        )
+        mCompassMarker = mAMap!!.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(if (compassDrawable != -1) compassDrawable else R.drawable.amap_custom_corner))
+                .anchor(0.5f, 0.5f)
+        )
+        if (startPointDrawable != -1) {
+            mStartMarker = mAMap!!.addMarker(
+                MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(startPointDrawable))
+            )
+        }
+        if (endPointDrawable != -1) {
+            mEndMarker = mAMap!!.addMarker(
+                MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(endPointDrawable))
+            )
+        }
+    }
+
+    fun handlePlanningData(locationList: List<MessagePad.Location>?) {
+        if (locationList.isNullOrEmpty()) return
+        val list: List<MessagePad.Location> = locationList
+        // 转成高德坐标系并存储
+        updateRoutePoints(list, mContext!!)
+        val planningPointList: List<LatLng> = planningPoints
+        UiThreadHandler.post {
+            displayCustomOverView()
+            drawStartAndEndMarker(planningPointList)
+        }
+        callback = object : MarkerDrawerManager.Callback {
+            override fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int) {
+                // 每1s刷新一下轨迹线
+                UiThreadHandler.post {
+                    if (planningPoints.isNotEmpty()) {
+                        drawPolyline(planningPoints, locIndex)
+                    }
+                }
+            }
+        }
+        startLoopCalCarLocation()
+        UiThreadHandler.post {
+            if (geoHashInfMap.isNullOrEmpty()) {
+                UiThreadHandler.postDelayed({
+                    drawInfrastructureMarkers(locationList)
+                }, 1000)
+            } else {
+                drawInfrastructureMarkers(locationList)
+            }
+        }
+    }
+
+    /**
+     * 显示V2X事件的Marker
+     */
+    private fun showV2XEventMarkers(v2XEventData: List<V2XEventData>?) {
+        if (v2XEventData == null || v2XEventData.isEmpty()) return
+        clearV2XMarkers()
+        val markerOptionsList = ArrayList<MarkerOptions>()
+        for (v2xEvent in v2XEventData) {
+            val center = v2xEvent.center
+            if (center != null) {
+                val markerOption = MarkerOptions()
+                val latLng: LatLng =
+                    if (v2xEvent.coordinateType == null || v2xEvent.coordinateType == 0) {
+                        LatLng(center.lat, center.lon)
+                    } else {
+                        // wgs84坐标系需转成高德坐标系
+                        coordinateConverterWgsToGcj(
+                            mContext!!,
+                            center.lat,
+                            center.lon
+                        )
+                    }
+                markerOption.position(latLng)
+                markerOption.anchor(0.13f, 1f)
+                markerOption.icon(
+                    BitmapDescriptorFactory.fromBitmap(
+                        getV2XBitmap(
+                            v2xEvent.poiType
+                        )
+                    )
+                )
+                markerOptionsList.add(markerOption)
+            }
+        }
+        if (markerOptionsList.size > 0) {
+            drawV2XMarkers(markerOptionsList)
+        }
+    }
+
+    fun drawV2XMarkers(markerOptionsList: ArrayList<MarkerOptions>?) {
+        currMarkerList = mAMap!!.addMarkers(markerOptionsList, false)
+    }
+
+    private fun getV2XBitmap(poiType: String?): Bitmap {
+        val marker = V2XMarkerView(context, null, 0, poiType)
+        marker.measure(
+            MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 229f), MeasureSpec.EXACTLY),
+            MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 96f), MeasureSpec.EXACTLY)
+        )
+        marker.layout(0, 0, marker.measuredWidth, marker.measuredHeight)
+        val bitmap = Bitmap.createBitmap(marker.width, marker.height, Bitmap.Config.ARGB_8888)
+        marker.draw(Canvas(bitmap))
+        return bitmap
+    }
+
+    private fun clearV2XMarkers() {
+        if (currMarkerList != null) {
+            for (marker in currMarkerList!!) {
+                marker.destroy()
+            }
+            currMarkerList = null
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        // 注册定位监听
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        CallerPlanningRottingListenerManager.removeListener(TAG)
+    }
+
+    override fun onInterceptTouchEvent(ev: MotionEvent): Boolean {
+        return false
+    }
+
+    /**
+     * 绘制新基建Markers(比如：摄像头)
+     *
+     * @param locationList
+     */
+    private fun drawInfrastructureMarkers(locationList: List<MessagePad.Location>?) {
+        val infMap = geoHashInfMap
+        if (locationList == null || infMap.isNullOrEmpty()) return
+        if (pathMap.isNotEmpty()) {
+            pathMap.clear()
+        }
+        var geoHash: String?
+        var infList: ArrayList<Infrastructure>?
+        for (i in locationList.indices) {
+            val latLng = coordinateConverterWgsToGcj(mContext!!, locationList[i])
+            geoHash =
+                GeoHash.withCharacterPrecision(latLng.latitude, latLng.longitude, 7).toBase32()
+            // 网格内的轨迹点只取一次s
+            if (!pathMap.containsKey(geoHash)) {
+                // 从缓存的新基建数据中去取对应geoHash的新基建数据集合
+                infList = infMap[geoHash]
+                if (infList != null) {
+                    pathMap[geoHash] = infList
+                }
+            }
+        }
+        drawInfMarkers(pathMap)
+    }
+
+    private fun drawInfMarkers(infStruMap: Map<String?, ArrayList<Infrastructure>?>) {
+        // 绘制新基建数据
+        if (posInfMap.isNotEmpty()) {
+            posInfMap.clear()
+        }
+        val markerOptionsList: ArrayList<MarkerOptions?> = ArrayList()
+        for (structureList in infStruMap.values) {
+            // 每个GeoHash内根据坐标系象限分散开摄像头icon显示
+            val markerOption = MarkerOptions()
+            val latLng = LatLng(
+                java.lang.Double.valueOf(structureList!![0].lat!!),
+                java.lang.Double.valueOf(structureList[0].lon!!)
+            )
+            markerOption.position(latLng)
+            val bitmap = getBitmap(structureList.size)
+            markerOption.icon(
+                BitmapDescriptorFactory.fromBitmap(
+                    bitmap
+                )
+            )
+            markerOption.anchor(0.18f, 0.98f)
+            markerOption.zIndex(2f)
+            posInfMap[latLng] = structureList
+            markerOptionsList.add(markerOption)
+        }
+        mAMap!!.addMarkers(markerOptionsList, false)
+        mAMap!!.setOnMarkerClickListener { marker: Marker ->
+            val infList: List<Infrastructure>? = posInfMap[marker.position]
+            // 如果是摄像头
+            if (infList != null) {
+                showVideoDialog(infList)
+                return@setOnMarkerClickListener true
+            }
+            false
+        }
+    }
+
+    private fun getBitmap(count: Int): Bitmap {
+        val marker = MakerWithCount(context)
+        marker.setCount(count)
+        marker.measure(
+            MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 116f), MeasureSpec.EXACTLY),
+            MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 116f), MeasureSpec.EXACTLY)
+        )
+        marker.layout(0, 0, marker.measuredWidth, marker.measuredHeight)
+        val bitmap = Bitmap.createBitmap(marker.width, marker.height, Bitmap.Config.ARGB_8888)
+        marker.draw(Canvas(bitmap))
+        return bitmap
+    }
+
+    /**
+     * 进入自定义全览模式
+     */
+    private fun displayCustomOverView() {
+        val linePointsLatLng = planningPoints
+        if (linePointsLatLng.size > 1 && mLocation != null) {
+            //圈定地图显示范围
+            //存放经纬度
+            val boundsBuilder = LatLngBounds.Builder()
+            for (i in linePointsLatLng.indices) {
+                boundsBuilder.include(linePointsLatLng[i])
+            }
+            val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+            boundsBuilder.include(currentLatLng)
+            val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
+            //第二个参数为四周留空宽度
+            mAMap!!.moveCamera(
+                CameraUpdateFactory.newLatLngBoundsRect(
+                    boundsBuilder.build(),
+                    AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
+                    AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
+                    AutoSizeUtils.dp2px(context, topPadding.toFloat()),
+                    AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+                )
+            )
+            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+        } else {
+            //设置希望展示的地图缩放级别
+            val cameraPosition = CameraPosition.Builder()
+                .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
+            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+        }
+    }
+
+    /**
+     * 绘制自车
+     *
+     * @param location
+     */
+    private fun drawCarMarker(location: MogoLocation?) {
+        if (location == null) return
+        if (mCarMarker != null) {
+            val currentLatLng = LatLng(location.latitude, location.longitude)
+            mCarMarker!!.rotateAngle = (360 - location.heading).toFloat()
+            mCarMarker!!.position = currentLatLng
+            mCarMarker!!.setToTop()
+            if (mCompassMarker != null) {
+                mCompassMarker!!.rotateAngle = (360 - location.heading).toFloat()
+                mCompassMarker!!.position = currentLatLng
+            }
+        }
+    }
+
+    /**
+     * 绘制起始点、终点
+     */
+    private fun drawStartAndEndMarker(coordinates: List<LatLng>) {
+        mStartMarker?.isVisible = false
+        mEndMarker?.isVisible = false
+        if (coordinates.size > 2) {
+            // 设置开始结束Marker位置
+            val startLatLng = coordinates[0]
+            val endLatLng = coordinates[coordinates.size - 1]
+            mStartMarker?.position = startLatLng
+            mEndMarker?.position = endLatLng
+            mStartMarker?.isVisible = true
+            mEndMarker?.isVisible = true
+        }
+    }
+
+    /**
+     * 绘制轨迹线
+     *
+     * @param coordinates
+     * @param locIndex
+     */
+    private fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
+        if (textureList.size > 0) {
+            textureList.clear()
+        }
+        if (texIndexList.size > 0) {
+            texIndexList.clear()
+        }
+        for (i in coordinates.indices) {
+            // 线段数比点数少一个
+            if (i == 0) continue
+            if (i <= locIndex) {
+                if (isClearArrived) {
+                    textureList.add(transparentBitmap)
+                } else {
+                    // 已走过的置灰
+                    textureList.add(arrivedBitmap)
+                }
+            } else {
+                // 未走过的纹理
+                textureList.add(unArrivedBitmap)
+            }
+            texIndexList.add(i - 1)
+        }
+        if (mAMap != null && coordinates.size > 2) {
+            //设置线段纹理
+            val polylineOptions = PolylineOptions()
+            polylineOptions.addAll(coordinates)
+            polylineOptions.width(14f) //线段宽度
+            polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapRound)
+            polylineOptions.customTextureList = textureList
+            polylineOptions.customTextureIndex = texIndexList
+            // 绘制线
+            mBottomPolyline = mCoveredPolyline
+            mCoveredPolyline = mAMap!!.addPolyline(polylineOptions)
+            if (mBottomPolyline != null) {
+                mBottomPolyline!!.remove()
+                mBottomPolyline = null
+            }
+        }
+    }
+
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
+        gnssInfo?.let {
+            mLocation = it
+            lonLatHeading = Triple(it.longitude, it.latitude, it.heading)
+            drawCarMarker(it)
+            if (isFirstLocation) {
+                displayCustomOverView()
+                isFirstLocation = false
+            }
+        }
+
+    }
+
+    /**
+     * 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 fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
+        globalPathResp?.let {
+            handlePlanningData(it.wayPointsList)
+        }
+    }
+}

core/function-impl/mogo-core-function-map/src/main/res/layout/module_map_fragment_map.xml

@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    >
-
-    <com.mogo.map.MogoMapView
-        android:id="@+id/module_map_id_map"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        android:visibility="visible"/>
-
-</androidx.constraintlayout.widget.ConstraintLayout>

core/function-impl/mogo-core-function-map/src/main/res/layout/module_overview_map_fragment.xml

@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent">
-
-    <com.mogo.eagle.core.function.smp.AMapCustomView
-        android:id="@+id/smallMapDirectionView"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent" />
-
-</androidx.constraintlayout.widget.ConstraintLayout>

core/function-impl/mogo-core-function-map/src/main/res/layout/module_overview_map_view.xml

@@ -25,8 +25,8 @@
 
         <TextView
             android:id="@+id/overLayer"
-            android:layout_width="@dimen/dp_116"
-            android:layout_height="@dimen/dp_116"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
             android:scaleType="centerInside"
             android:layout_alignParentRight="true"
             android:layout_alignParentBottom="true"

core/function-impl/mogo-core-function-map/src/main/res/layout/module_small_map_fragment.xml

@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent">
-
-    <com.mogo.eagle.core.function.smp.SmallMapDirectionView
-        android:id="@+id/smallMapDirectionView"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginRight="30dp"
-        android:layout_marginBottom="30dp"
-        android:visibility="visible"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent" />
-
-</androidx.constraintlayout.widget.ConstraintLayout>

core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <declare-styleable name="OverMapView">
+        <!-- 地图样式asset目录下的路径 -->
+        <attr name="mapStylePath" format="string" />
+        <attr name="mapStyleExtraPath" format="string" />
+        <!-- 自车模型图片 -->
+        <attr name="carDrawable" format="reference" />
+        <!-- 罗盘图片 -->
+        <attr name="compassDrawable" format="reference" />
+        <!-- 起点图片 -->
+        <attr name="startPointDrawable" format="reference" />
+        <!-- 终点图片 -->
+        <attr name="endPointDrawable" format="reference" />
+        <!-- 已走过路线的图片 -->
+        <attr name="arrivedDrawable" format="reference" />
+        <!-- 未走过路线的图片 -->
+        <attr name="unArrivedDrawable" format="reference" />
+        <!-- 重置位置图片 -->
+        <attr name="resetDrawable" format="reference" />
+        <!-- 重置位置图片右面margin -->
+        <attr name="resetDrawableMarginRight" format="dimension" />
+        <!-- 重置位置图片下面margin -->
+        <attr name="resetDrawableMarginBottom" format="dimension" />
+        <!-- 是否擦除已走过的路线 -->
+        <attr name="isClearArrived" format="boolean" />
+        <!-- 规定屏幕范围的padding -->
+        <attr name="leftPadding" format="integer" />
+        <attr name="topPadding" format="integer" />
+        <attr name="rightPadding" format="integer" />
+        <attr name="bottomPadding" format="integer" />
+    </declare-styleable>
+</resources>