Merge remote-tracking branch 'origin/dev_minibus-d_230425_3.2.0' into dev_minibus-d_230425_3.2.0

2023-06-02 18:20:02 +08:00
parent 59bb933ff6 e8a8f295f7
commit ee2850885f
16 changed files with 230 additions and 174 deletions
--- a/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -466,10 +466,6 @@ public class BusPassengerModel {
            if (autopilotStatusInfo == null) return;
            int state = autopilotStatusInfo.getState();
            if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-                //2022.7.20 自动驾驶更换成带档位的
-                if(state != mPreAutoStatus && null != routesResult){
-                    CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
-                }
                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                if(state != mPreAutoStatus){
--- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt
+++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt
@@ -238,19 +238,6 @@ object CharterPassengerModel {
                    mAutoStatusChnageListener.forEach {
                        it.value.onAutoStatusChange(state)
                    }
-                    when (state) {
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
-                            RxUtils.createSubscribe {
-                                cleanRoutePoints()
-                                CallerLogger.d(M_BUS_P + TAG,"请求底盘轨迹")
-                                CallerAutoPilotControlManager.getGlobalPath()
-                            }
-                        }
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {}
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {}
-                        IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {}
-                        else -> {}
-                    }
                }
            }
            override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
--- a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
+++ b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
@@ -305,9 +305,6 @@ class PM2DrivingModel private constructor() {

                }else{//自驾状态 2
                    mAutoStatusCallback?.updateAutoStatus(true)
-                    if (routesResult != null){
-                        CallerAutoPilotControlManager.getGlobalPath()
-                    }
                }
                mCurrentAutoStatus = status
            }
@@ -502,10 +499,6 @@ class PM2DrivingModel private constructor() {
    }

    fun dynamicCalculateRouteInfo(){
-        //如果轨迹点为空发送一次获取轨迹指令
-        if (mRoutePoints.size == 0){
-            CallerAutoPilotControlManager.getGlobalPath()
-        }
        //计算当前位置和下一站的剩余点集合
        //计算剩余点总里程和时间
        d(SceneConstant.M_BUS_P + TAG, "och-rotting==mTwoStationsRouts.size() = " + mTwoStationsRouts.size)
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -531,8 +531,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                    // 当高频返回autopilot 2时，不重复调用订单状态变更
                    mPrevAPStatus = state; // 每个状态单独赋值，解决无订单时已经是2的状态导致的新订单来时无法进入此逻辑更新状态
                    startServicePilotDone();
-
-                    CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
                }
            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                mPrevAPStatus = state;
--- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
@@ -151,7 +151,13 @@ object ConfigStartUp {
                    HDTypes.GUARDBAR.type,
                    HDTypes.TRAFFIC_DEVICE.type,
                    HDTypes.CABLE.type,
-                    HDTypes.SIGNAL_LINE.type
+                    HDTypes.SIGNAL_LINE.type,
+                    HDTypes.building.type,
+                    HDTypes.streetLight.type,
+                    HDTypes.area.type,
+                    HDTypes.regional.type,
+                    HDTypes.geometricLinear.type,
+                    HDTypes.geometricSurface.type
                )
            )
        // .setZoom( 20 )
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -302,9 +302,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                autopilotStatusInfo.state = autopilotState.state
                autopilotStatusInfo.pilotmode = autopilotState.autopilotMode
                autopilotStatusInfo.reason = autopilotState.reason
-                autopilotStatusInfo.camera = autopilotState.camera
-                autopilotStatusInfo.rtk = autopilotState.rtk
-                autopilotStatusInfo.radar = autopilotState.radar
                autopilotStatusInfo.version = AdasManager.getInstance().adasVersion
                if (autopilotStatusInfo.connectIP == null) {
                    autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -1,10 +1,24 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server

+import android.annotation.SuppressLint
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.zhidao.support.adas.high.AdasManager
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import io.reactivex.Observable
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.disposables.Disposable
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicInteger

 /**
 * @author xiaoyuzhou
@@ -14,7 +28,8 @@ import com.zhidao.support.adas.high.AdasManager
 * 异步同步数据给 Autopilot 控制器
 * 数据源（不限于）：OBU、网络等
 */
-class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener {
+class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener,
+    IMoGoAutopilotStatusListener {
    companion object {
        const val TAG = "AsyncDataToAutopilotServer"
        val INSTANCE: AsyncDataToAutopilotServer by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -22,10 +37,41 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
        }
    }

+    private var mPreAutoStatus = AtomicInteger(-1)
+    private var createSubscribe: Disposable? = null
+
    fun initServer() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
        CallerTrafficLightListenerManager.addListener(TAG, this)
    }

+    @SuppressLint("CheckResult")
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        super.onAutopilotStatusResponse(autoPilotStatusInfo)
+        val state = autoPilotStatusInfo.state
+        if (mPreAutoStatus.get() != state) {
+            mPreAutoStatus.set(state)
+            createSubscribe?.let {
+                if (!it.isDisposed) {
+                    bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
+                    createSubscribe?.dispose()
+                }
+            }
+
+            when (state) {
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                    createSubscribe = Observable.timer(2000L, TimeUnit.MILLISECONDS)
+                        .observeOn(AndroidSchedulers.mainThread())
+                        .subscribe {
+                            bizLog(SceneConstant.M_ADAS_IMPL + TAG, "请求底盘轨迹")
+                            CallerAutoPilotControlManager.getGlobalPath()
+                        }
+                }
+                else -> {}
+            }
+        }
+    }
+
    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
        var version = -1
        if (AdasManager.getInstance().carConfig != null) {
@@ -34,4 +80,16 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
        if (version > -1 && version < 290)
            CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
    }
+
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = ChainConstant.CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    private fun bizLog(tag: String, msg: String) {
+        CallerLogger.d(tag, msg)
+    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -11,7 +11,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel.Companion.aiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -51,7 +50,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener,
        MogoMapListenerHandler.mogoMapListenerHandler.registerHostMapListener(TAG, this)
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
        CallerPlanningRottingListenerManager.addListener(TAG,this)
-        CallerAutoPilotControlManager.getGlobalPath()
        MogoAiCloudSocketManager.getInstance(mContext)
            .registerOnMessageListener(
                0x040003, //低频数据
@@ -166,8 +164,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener,
        super.onAutopilotRouteLineId(lineId)
        if (lineId == 0L) {
            updateRomaStyle(true)
-        }else{
-            CallerAutoPilotControlManager.getGlobalPath()
        }
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
@@ -86,12 +86,33 @@ object MarkerDrawerManager {
        }
    }

-    fun updateRoutePoints(routePoints: List<MessagePad.Location>?, context: Context) {
+    /**
+     * 存储全局轨迹用于轮询计算车已走过的轨迹index
+     */
+    fun updateGDRoutePoints(routePoints: List<LatLng>?) {
        if (routePoints == null || routePoints.isEmpty()) return
-        val latLngModels = coordinateConverterWgsToGcjListCommon(context, routePoints)
-        planningPoints.clear()
-        planningPoints.addAll(latLngModels)
-//        float remainingSumLength = calculateRemainingSumLength(mRoutePoints);
+        synchronized(this) {
+            planningPoints.clear()
+            planningPoints.addAll(routePoints)
+        }
+    }
+
+    fun resetStatus() {
+        synchronized(this) {
+            planningPoints.clear()
+        }
+        lastArrivedIndex = -1
+    }
+
+    /**
+     * 转为高德定位对象
+     */
+    fun change2GDPoints(routePoints: List<MessagePad.Location>?, context: Context): List<LatLng> {
+        return if (routePoints == null || routePoints.isEmpty()) {
+            emptyList()
+        } else {
+            coordinateConverterWgsToGcjListCommon(context, routePoints)
+        }
    }

    /**
@@ -111,11 +132,15 @@ object MarkerDrawerManager {
        if (routePoints.isNotEmpty()) {
            //基础点
            val baseLatLng = routePoints[0]
+            newPoints.add(baseLatLng)
            var baseDiffDis = CoordinateUtils.calculateLineDistance(
                realLon, realLat, baseLatLng.longitude, baseLatLng.latitude
            ) // lon,lat, prelon, prelat
-            for (i in 1 until routePoints.size) {
+            val size = routePoints.size
+            for (i in 1 until size) {
                val latLng = routePoints[i]
+                // 深拷贝数据用于高德地图上轨迹线的绘制
+                newPoints.add(LatLng(latLng.latitude, latLng.longitude))
                val diff = CoordinateUtils.calculateLineDistance(
                    realLon, realLat, latLng.longitude, latLng.latitude
                )
@@ -136,11 +161,12 @@ object MarkerDrawerManager {
            }
            Log.d("MarkerDrawerManager", "当次计算已走过的点的索引为：$currentIndex，存储的上次索引为：$lastArrivedIndex")
            if (currentIndex < lastArrivedIndex) {
-                currentIndex = lastArrivedIndex
+                if (lastArrivedIndex < size) {
+                    currentIndex = lastArrivedIndex
+                }
            } else {
                lastArrivedIndex = currentIndex
            }
-            newPoints.addAll(routePoints)
            newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
            return currentIndex + 1
        }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
@@ -17,7 +17,6 @@ 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
@@ -296,10 +295,10 @@ class SmallMapView @JvmOverloads constructor(
                    endLatLng.latitude, endLatLng.longitude,
                    currentLatLng.latitude, currentLatLng.longitude
                )
-                CallerLogger.d(
-                    SceneConstant.M_MAP + TAG,
-                    "calculateDistance=$calculateDistance"
-                )
+//                CallerLogger.d(
+//                    SceneConstant.M_MAP + TAG,
+//                    "calculateDistance=$calculateDistance"
+//                )
                if (calculateDistance <= 5) {
                    CallerLogger.d(
                        SceneConstant.M_MAP + TAG, "onChassisLocationGCJ02 ----->  calculateDistance <= 5 ")
@@ -325,8 +324,6 @@ class SmallMapView @JvmOverloads constructor(
            UiThreadHandler.post {
                clearPolyline()
            }
-        } else if (tempStatus == 1 && autoPilotStatus == 0) {
-            getGlobalPath()
        }
        autoPilotStatus = tempStatus
    }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -28,7 +28,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoV2XListener
 import com.mogo.eagle.core.function.api.biz.IFuncBizProvider
-import com.mogo.eagle.core.function.call.autopilot.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.autopilot.CallerV2XListenerManager
@@ -38,21 +37,18 @@ 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.change2GDPoints
 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.MarkerDrawerManager.updateGDRoutePoints
 import com.mogo.eagle.core.function.smp.V2XMarkerView
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.zhidaoauto.map.sdk.open.tools.ThreadPoolUtils
 import me.jessyan.autosize.utils.AutoSizeUtils
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.MogoV2X
-import java.util.concurrent.ExecutorService
 import java.util.concurrent.Executors
 import kotlin.math.pow

@@ -128,10 +124,16 @@ class OverMapView @JvmOverloads constructor(
    @Volatile
    private var isInit = false

+    @Volatile
+    private var isFirst = true
+
+    // 用来绘制轨迹线
    private val singlePool by lazy {
        Executors.newSingleThreadExecutor()
    }

+    private var allPoints: List<LatLng>? = null
+
    companion object {
        const val TAG = "OverMapView"
    }
@@ -335,8 +337,9 @@ class OverMapView @JvmOverloads constructor(
        mStartMarker?.isVisible = false
        mEndMarker?.isVisible = false
        MarkerDrawerManager.stopLoopCalCarLocation()
-        planningPoints.clear()
-        lastArrivedIndex = -1
+        ThreadUtils.getIoPool().execute {
+            MarkerDrawerManager.resetStatus()
+        }
        isInit = false
    }

@@ -414,8 +417,6 @@ class OverMapView @JvmOverloads constructor(
            }
        })
        CallerV2XListenerManager.addListener(TAG, this)
-        // 主动查一次全局路径规划的数据
-        getGlobalPath()
    }

    private fun setUpMap() {
@@ -473,37 +474,50 @@ class OverMapView @JvmOverloads constructor(
            Log.d(TAG, "全局路径规划轨迹为空")
            return
        }
+        Log.d(TAG, "全局路径规划轨迹下发")
+        isFirst = true
+        MarkerDrawerManager.resetStatus()
        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)
-        }, UiThreadHandler.MODE.QUEUE)
-        if (!isInit) {
-            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)
+        // 转成高德定位对象并存储
+        val planningPointList = change2GDPoints(list, mContext!!)
+        updateGDRoutePoints(planningPointList)
+        synchronized(this::class.java) {
+            if (!isInit) {
+                var timeStamp = 0L
+                callback = object : MarkerDrawerManager.Callback {
+                    override fun onLocationChanged(points: List<LatLng>, locIndex: Int) {
+                        if (points.isNotEmpty()) {
+                            // 每1s刷新一下轨迹线
+                            singlePool.execute {
+                                if (isFirst) {
+                                    Log.d(TAG, "第一次!")
+                                    isFirst = false
+                                    allPoints = points
+                                    displayCustomOverView()
+                                    drawStartAndEndMarker(points)
+                                }
+                                timeStamp = System.currentTimeMillis()
+                                drawPolyline(points, locIndex)
+                                Log.d(TAG, "绘制轨迹线的时间为：${System.currentTimeMillis() - timeStamp}ms")
+                            }
                        }
-                    }, UiThreadHandler.MODE.QUEUE)
+                    }
                }
+                startLoopCalCarLocation()
+                isInit = true
            }
-            startLoopCalCarLocation()
-            isInit = true
        }
-        UiThreadHandler.post({
-            if (geoHashInfMap.isNullOrEmpty()) {
-                UiThreadHandler.postDelayed({
+        if (geoHashInfMap.isNullOrEmpty()) {
+            UiThreadHandler.postDelayed({
+                singlePool.execute {
                    drawInfrastructureMarkers(locationList)
-                }, 1000, UiThreadHandler.MODE.QUEUE)
-            } else {
+                }
+            }, 1000, UiThreadHandler.MODE.QUEUE)
+        } else {
+            singlePool.execute {
                drawInfrastructureMarkers(locationList)
            }
-        }, UiThreadHandler.MODE.QUEUE)
+        }
    }

    /**
@@ -665,33 +679,35 @@ class OverMapView @JvmOverloads constructor(
     * 进入自定义全览模式
     */
    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())
+        singlePool.execute {
+            val linePointsLatLng = allPoints
+            if (linePointsLatLng != null && 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))
+                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))
+            }
        }
    }

@@ -721,6 +737,7 @@ class OverMapView @JvmOverloads constructor(
        mStartMarker?.isVisible = false
        mEndMarker?.isVisible = false
        if (coordinates.size > 2) {
+            Log.d(TAG, "绘制起终点")
            // 设置开始结束Marker位置
            val startLatLng = coordinates[0]
            val endLatLng = coordinates[coordinates.size - 1]
@@ -728,6 +745,8 @@ class OverMapView @JvmOverloads constructor(
            mEndMarker?.position = endLatLng
            mStartMarker?.isVisible = true
            mEndMarker?.isVisible = true
+        } else {
+            Log.d(TAG, "不绘制起终点")
        }
    }

@@ -737,8 +756,7 @@ class OverMapView @JvmOverloads constructor(
     * @param coordinates
     * @param locIndex
     */
-    @MainThread
-    fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
+    private fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
        if (textureList.size > 0) {
            textureList.clear()
        }
@@ -822,49 +840,51 @@ class OverMapView @JvmOverloads constructor(
     * 站点轨迹集合被包含在地图显示范围内
     */
    fun includeSitePointsAndUpdateCamera(coordinates: List<LatLng>?) {
-        val linePointsLatLng = planningPoints
-        val boundsBuilder = LatLngBounds.Builder()
-        var isOnlyCarLocation = true
+        singlePool.execute {
+            val linePointsLatLng = allPoints
+            val boundsBuilder = LatLngBounds.Builder()
+            var isOnlyCarLocation = true

-        if (linePointsLatLng.size > 1) {
-            // 圈定地图显示范围(自动驾驶轨迹)
-            for (i in linePointsLatLng.indices) {
-                boundsBuilder.include(linePointsLatLng[i])
+            if (linePointsLatLng != null && linePointsLatLng.size > 1) {
+                // 圈定地图显示范围(自动驾驶轨迹)
+                for (i in linePointsLatLng.indices) {
+                    boundsBuilder.include(linePointsLatLng[i])
+                }
+                isOnlyCarLocation = false
            }
-            isOnlyCarLocation = false
-        }

-        if (mLocation != null) {
-            // 自车坐标
-            boundsBuilder.include(LatLng(mLocation!!.latitude, mLocation!!.longitude))
-        }
-
-        coordinates?.let {
-            // 站点轨迹被包含在地图显示范围内
-            for (i in it.indices) {
-                boundsBuilder.include(it[i])
+            if (mLocation != null) {
+                // 自车坐标
+                boundsBuilder.include(LatLng(mLocation!!.latitude, mLocation!!.longitude))
            }
-            isOnlyCarLocation = false
-        }

-        if (!isOnlyCarLocation) {
-            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())
+            coordinates?.let {
+                // 站点轨迹被包含在地图显示范围内
+                for (i in it.indices) {
+                    boundsBuilder.include(it[i])
+                }
+                isOnlyCarLocation = false
+            }
+
+            if (!isOnlyCarLocation) {
+                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))
+                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))
+            }
        }
    }

@@ -888,7 +908,7 @@ class OverMapView @JvmOverloads constructor(
     */
    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
        globalPathResp?.let {
-            singlePool.execute {
+            ThreadUtils.getIoPool().execute {
                handlePlanningData(it.wayPointsList)
            }
        }
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
@@ -56,21 +56,6 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
     */
    var reason: String? = null

-    /**
-     * 摄像头状态 1代表开启，0代表关闭
-     */
-    var camera = 0
-
-    /**
-     * 雷达状态 1代表开启，0代表关闭
-     */
-    var radar = 0
-
-    /**
-     * RTK状态 1代表开启，0代表关闭
-     */
-    var rtk = 0
-
    /**
     * 底盘的自动驾驶状态 0非自动驾驶，1自动驾驶
     */
@@ -89,8 +74,8 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
        return "connectIP=$connectIP, connectPort=$connectPort, " +
                "connectStatus=$connectStatus, connectDescribe=$connectStatusDescribe, version=$version, dockVersion=$dockVersion," +
                " locationStatus=$locationStatus), locationLat=$locationLat, locationLon=$locationLon," +
-                " satelliteTime=$satelliteTime, state=$state, reason=$reason, camera=$camera," +
-                " radar=$radar, rtk=$rtk, pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters"
+                " satelliteTime=$satelliteTime, state=$state, reason=$reason, " +
+                " pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters"
    }

    public override fun clone(): AutopilotStatusInfo {
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
@@ -60,7 +60,7 @@ class ChainConstant {
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS"
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS"
        const val CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP = "CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP"
-        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN = "PAD_ADAS_MESSAGE_AUTOPILOT_WARN"
+        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ"

        const val CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK = "CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK"
        const val CHAIN_ALIAS_CODE_RECORD_ANR = "CHAIN_ALIAS_CODE_RECORD_ANR"
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -13,7 +13,7 @@ import system_master.*
 interface IMoGoAutopilotStatusListener {

    /**
-     * 自动驾驶状态信息
+     * 自动驾驶状态信息 TODO 接口优化，拆分业务属性字段
     *
     * @param autoPilotStatusInfo 状态信息
     */
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -366,7 +366,8 @@ message GlobalPathReq
 // message definition for MsgTypeGlobalPathResp
 message GlobalPathResp
 {
-    repeated Location wayPoints = 1; 
+    repeated Location wayPoints = 1;
+    uint64 lineId = 2; //路线id
 }

 // message definition for MsgTypeTrafficLightData
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -121,10 +121,6 @@ public class AMapViewWrapper implements IMogoMapView,
    private EnumMapUI mCurrentUI = EnumMapUI.MAP_STYLE_NIGHT_VR;
    private VisualAngleMode mVisualAngleMode = MODE_MEDIUM_SIGHT;

-    private boolean mMapLoaded = false;
-    private boolean mIsFirstLocated = true;
-    private boolean mIsDelayed = false;
-
    private IHdCacheListener hdCacheListener;

    public AMapViewWrapper(MapAutoView mMapView) {
@@ -174,6 +170,7 @@ public class AMapViewWrapper implements IMogoMapView,
                //设置手势是否可以缩放 isCanZoom true 可缩放 false 不可缩放
                options.setZoomGesturesEnabled(true);
                options.setScaleVRMode(true);
+                options.setWeatherEnable(false);
 //            options.setAllGesturesEnabled(false); //禁止全部手势
                if (options.getMyLocationStyle() != null) {
                    options.getMyLocationStyle().setDisplayAnimEnable(true);
@@ -757,7 +754,6 @@ public class AMapViewWrapper implements IMogoMapView,
    @Override
    public void onMapLoaded() {
        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--onMapLoaded: ");
-        mMapLoaded = true;
        if (checkAMapView()) {
            CameraPosition cameraPosition = mMapView.getMapAutoViewHelper().getCameraPosition();
            Trace.beginSection("timer.onCameraChangeFinish");