yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[add] 图片替换,差擦除UI,

Browse Source 
删除无用代码,
添加adas全局路径逻辑,
测试代码存在
This commit is contained in:
liujing
2022-06-29 18:28:54 +08:00
committed by chenfufeng
parent ac54ce1928
commit fbb2c26b79
1 changed files with 698 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

698
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java Normal file
View File

@@ -0,0 +1,698 @@
package com.mogo.eagle.core.function.smp;
import android.content.Context;
import android.graphics.BitmapFactory;
import android.location.Location;
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.CoordinateConverter;
import com.amap.api.maps.UiSettings;
import com.amap.api.maps.model.LatLng;
import com.amap.api.maps.model.Polyline;
import com.amap.api.navi.AMapNavi;
import com.amap.api.navi.AMapNaviListener;
import com.amap.api.navi.AMapNaviView;
import com.amap.api.navi.AMapNaviViewListener;
import com.amap.api.navi.AMapNaviViewOptions;
import com.amap.api.navi.enums.NaviType;
import com.amap.api.navi.model.AMapCalcRouteResult;
import com.amap.api.navi.model.AMapLaneInfo;
import com.amap.api.navi.model.AMapModelCross;
import com.amap.api.navi.model.AMapNaviCameraInfo;
import com.amap.api.navi.model.AMapNaviCross;
import com.amap.api.navi.model.AMapNaviInfo;
import com.amap.api.navi.model.AMapNaviLocation;
import com.amap.api.navi.model.AMapNaviRouteNotifyData;
import com.amap.api.navi.model.AMapNaviTrafficFacilityInfo;
import com.amap.api.navi.model.AMapServiceAreaInfo;
import com.amap.api.navi.model.AimLessModeCongestionInfo;
import com.amap.api.navi.model.AimLessModeStat;
import com.amap.api.navi.model.NaviInfo;
import com.amap.api.navi.model.NaviLatLng;
import com.amap.api.navi.model.RouteOverlayOptions;
import com.autonavi.tbt.TrafficFacilityInfo;
import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
import com.mogo.eagle.core.data.map.MogoLatLng;
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.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.function.map.R;
import com.mogo.eagle.core.function.smp.view.ISmallMapDirectionView;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.eagle.core.utilcode.util.ThreadUtils;
import com.mogo.module.common.utils.DrivingDirectionUtils;
import com.zhidao.support.adas.high.AdasManager;
import org.jetbrains.annotations.NotNull;
import java.util.ArrayList;
import java.util.List;
import mogo.telematics.pad.MessagePad;
import mogo_msg.MogoReportMsg;
/**
* 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, ISmallMapDirectionView, AMapNaviListener, AMapNaviViewListener {
public static final String TAG = "AMapCustomView";
private AMapNaviView mAMapNaviView;
protected AMapNavi mAMapNavi;
private AMap mAMap;
protected NaviLatLng mStartLatlng = new NaviLatLng();
protected NaviLatLng mEndLatlng = new NaviLatLng();
//328路线测试数据
// protected NaviLatLng mStartLatlng = new NaviLatLng(39.969111, 116.411903);
// protected NaviLatLng mEndLatlng = new NaviLatLng(40.037209, 116.314358);
//顺义国展测试数据
// mStartLatlng = new NaviLatLng(40.09383,116.51899);
// mEndLatlng = new NaviLatLng(40.09964,116.54570);
protected final List<NaviLatLng> sList = new ArrayList<NaviLatLng>();
protected final List<NaviLatLng> eList = new ArrayList<NaviLatLng>();
private int zoomLevel = 15;
private final List<LatLng> mCoordinatesLatLng = new ArrayList<>();
private final List<MogoLatLng> mCoordinatesLatLngCurrent = new ArrayList<>();
protected List<NaviLatLng> mWayPointList = new ArrayList<NaviLatLng>();
private Polyline mPolyline;
private CameraUpdate mCameraUpdate;
private Context mContext;
private float tilt = 30f;
private TextView overLayerView;
private boolean calculate = false;
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;
//测试代码:路线指定路径328线路
// mWayPointList.add(new NaviLatLng(39.968847, 116.406952));
// mWayPointList.add(new NaviLatLng(39.969058, 116.407346));
// mWayPointList.add(new NaviLatLng(39.968955, 116.401767));
// mWayPointList.add(new NaviLatLng(39.968626, 116.394938));
// mWayPointList.add(new NaviLatLng(39.968433, 116.388725));
// mWayPointList.add(new NaviLatLng(39.968542, 116.383775));
// mWayPointList.add(new NaviLatLng(40.037808, 116.342539));
// mWayPointList.add(new NaviLatLng(40.037239, 116.337172));
// mWayPointList.add(new NaviLatLng(40.035897, 116.329582));
// mWayPointList.add(new NaviLatLng(40.036396, 116.322166));
Log.d(TAG, "initView:" + mWayPointList.toString());
//顺义国展路线
// mWayPointList.add(new NaviLatLng(40.097621,116.526495));
// mWayPointList.add(new NaviLatLng(40.097982,116.529135));
// mWayPointList.add(new NaviLatLng(40.098434,116.531903));
// mWayPointList.add(new NaviLatLng(40.098828,116.534563));
// mWayPointList.add(new NaviLatLng(40.099377,116.538651));
// mWayPointList.add(new NaviLatLng(40.099927,116.54173));
View smpView = LayoutInflater.from(context).inflate(R.layout.module_small_map_view, this);
mAMapNaviView = smpView.findViewById(R.id.aMapNaviView);
overLayerView = findViewById(R.id.overLayer);
mAMapNavi = AMapNavi.getInstance(context);
mAMapNavi.addAMapNaviListener(this);
mAMapNaviView.setAMapNaviViewListener(this);
CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
initAMapView(context);
// 注册定位监听
CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this);
//设置全览模式
overLayerView.setOnClickListener(v -> {
mAMapNaviView.displayOverview();
});
}
private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
@Override
public void onAutopilotIpcConnectStatusChanged(int status, @org.jetbrains.annotations.Nullable String reason) {
}
@Override
public void onAutopilotGuardian(@org.jetbrains.annotations.Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
}
@Override
public void onAutopilotSNRequest() {
}
@Override
public void onAutopilotArriveAtStation(@org.jetbrains.annotations.Nullable MessagePad.ArrivalNotification arrivalNotification) {
}
@Override
public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
ThreadUtils.runOnUiThread(new Runnable() {
@Override
public void run() {
if (autoPilotStatusInfo == null) return;
int state = autoPilotStatusInfo.getState();
//0 不能自动驾驶 1 可以自动驾驶,但是在人工干预 2 自动驾驶中
if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
Log.d(TAG, "自动驾驶中= %s" + String.valueOf(state));
if (sList.size() == 0 && eList.size() == 0 && mWayPointList.size() == 0) {
Log.d(TAG, "sendGlobalPathReq");
AdasManager.getInstance().sendGlobalPathReq();
}
} else {
int type = mAMapNavi.getNaviType();
Log.d(TAG, "非自动驾驶状态,导航类型==" + String.valueOf(type));
if (type == NaviType.GPS || type == NaviType.EMULATOR) {
mAMapNavi.stopNavi();
}
}
}
});
}
};
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) {
if (calculate == true) {
return;
}
calculate = true;
Log.d(TAG, "onAutopilotRotting");
List list = globalPathResp.getWayPointsList();
int minCount = 2;
if (list.size() >= minCount && sList.size() == 0 && eList.size() == 0 && mWayPointList.size() == 0) {
calculate = true;
MessagePad.Location sLocation = (MessagePad.Location) list.get(0);
MessagePad.Location eLocation = (MessagePad.Location) list.get(list.size() - 1);
mStartLatlng = new NaviLatLng(sLocation.getLatitude(), sLocation.getLongitude());
mEndLatlng = new NaviLatLng(eLocation.getLatitude(), eLocation.getLongitude());
sList.clear();
eList.clear();
sList.add(mStartLatlng);
eList.add(mEndLatlng);
mWayPointList.clear();
for (int i = 1; i < list.size() - minCount; i++) {
MessagePad.Location wayLoc = (MessagePad.Location) list.get(i);
NaviLatLng way = new NaviLatLng(wayLoc.getLatitude(), wayLoc.getLongitude());
mWayPointList.add(way);
}
}
int strategy = 0;
try {
//再次强调，最后一个参数为true时代表多路径，否则代表单路径
strategy = mAMapNavi.strategyConvert(true, false, false, false, false);
} catch (Exception e) {
e.printStackTrace();
}
Log.d(TAG, "全局路径" + list.size() + ",起点:" + sList.toString() + ",终点:" + eList.toString() + ",经点:" + mWayPointList.toString());
//指定路径绘制导航路线
mAMapNavi.calculateDriveRoute(sList, eList, mWayPointList, strategy);
}
};
@Override
protected void onDetachedFromWindow() {
super.onDetachedFromWindow();
// 注册定位监听
CallerMapLocationListenerManager.INSTANCE.removeListener(TAG);
CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(TAG);
CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
}
private void initAMapView(Context context) {
mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
AMapNaviViewOptions options = mAMapNaviView.getViewOptions();
//关闭自动绘制路线,自行绘制路线
// options.setAutoDrawRoute(false);
//不显示导航界面
options.setLayoutVisible(false);
//黑夜模式
options.setNaviNight(true);
//导航全程光柱
options.setTrafficBarEnabled(false);
//指南针
// options.setCompassEnabled(false);
options.setTilt((int) tilt);
//自车车标
options.setCarBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_my_location_logo));
options.setFourCornersBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.amap_custom_corner));
options.setStartPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_dir_start));
options.setWayPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.icon_module_small_map_four_corners));
options.setEndPointBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_dir_end));
//与走过的路线
options.setAfterRouteAutoGray(true);
//路线纹理自定义
RouteOverlayOptions routeOverlayOptions = new RouteOverlayOptions();
routeOverlayOptions.setTurnArrowIs3D(false);
routeOverlayOptions.setUnknownTraffic(BitmapFactory.decodeResource(getResources(),R.drawable.custtexture_no));//未知路段
routeOverlayOptions.setSmoothTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.amap_custom_smooth_route));
routeOverlayOptions.setJamTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_bad));//拥堵路段
routeOverlayOptions.setVeryJamTraffic(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_grayred));//超级拥堵路段
routeOverlayOptions.setPassRoute(BitmapFactory.decodeResource(getResources(), R.drawable.custtexture_slow));//走过的路段
options.setRouteOverlayOptions(routeOverlayOptions);
mAMapNaviView.setViewOptions(options);
mAMap = mAMapNaviView.getMap();
// 地图文字标注
mAMap.showMapText(true);
// 显示实时路况图层，aMap是地图控制器对象。
mAMap.setTrafficEnabled(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);
int strategy = 0;
try {
//再次强调，最后一个参数为true时代表多路径，否则代表单路径
strategy = mAMapNavi.strategyConvert(true, false, false, false, false);
} catch (Exception e) {
e.printStackTrace();
}
//指定路径绘制导航路线
mAMapNavi.calculateDriveRoute(sList, eList, mWayPointList, strategy);
}
@Override
public boolean onInterceptTouchEvent(MotionEvent ev) {
return false;
}
@Override
public void onLocationChanged(@org.jetbrains.annotations.Nullable MogoLocation location, int from) {
}
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() {
}
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() {
if (mPolyline != null) {
mPolyline.remove();
}
}
public void resetPolyLine() {
mCoordinatesLatLng.clear();
if (mPolyline != null) {
mPolyline.remove();
}
}
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();
}
//since 1.6.0 不再在naviview destroy的时候自动执行AMapNavi.stopNavi();请自行执行
if (mAMapNavi != null) {
mAMapNavi.stopNavi();
mAMapNavi.destroy();
}
if (mAMapNaviView != null) {
mAMapNaviView.onDestroy();
}
}
public void convert(List<MogoLatLng> coordinates) {
}
//多路径算路成功回调
@Override
public void onCalculateRouteSuccess(int[] ints) {
Log.d(TAG, "onCalculateRouteSuccess int");
}
@Override
public void onInitNaviFailure() {
calculate = false;
Log.d(TAG, "onInitNaviFailure");
}
@Override
public void onInitNaviSuccess() {
Log.d(TAG, "onInitNaviSuccess");
}
@Override
public void onStartNavi(int i) {
Log.d(TAG, "onStartNavi");
}
@Override
public void onTrafficStatusUpdate() {
}
@Override
public void onLocationChange(AMapNaviLocation aMapNaviLocation) {
// Log.d(TAG, "高德地图经纬度:" + aMapNaviLocation.getCoord().getLongitude() + "," + aMapNaviLocation.getCoord().getLatitude());
}
@Override
public void onGetNavigationText(int i, String s) {
Log.d(TAG, "onGetNavigationText int");
}
@Override
public void onGetNavigationText(String s) {
Log.d(TAG, "onGetNavigationText ss");
}
@Override
public void onEndEmulatorNavi() {
Log.d(TAG, "onEndEmulatorNavi");
}
@Override
public void onArriveDestination() {
Log.d(TAG, "onArriveDestination");
}
@Override
public void onCalculateRouteFailure(int i) {
Log.d(TAG, "onCalculateRouteFailure");
}
@Override
public void onReCalculateRouteForYaw() {
Log.d(TAG, "onReCalculateRouteForYaw");
}
@Override
public void onReCalculateRouteForTrafficJam() {
Log.d(TAG, "onReCalculateRouteForTrafficJam");
}
@Override
public void onArrivedWayPoint(int i) {
Log.d(TAG, "onArrivedWayPoint");
}
@Override
public void onGpsOpenStatus(boolean b) {
Log.d(TAG, "onGpsOpenStatus");
}
@Override
public void onNaviInfoUpdate(NaviInfo naviInfo) {
Log.d(TAG, "onNaviInfoUpdate");
}
@Override
public void onNaviInfoUpdated(AMapNaviInfo aMapNaviInfo) {
Log.d(TAG, "onNaviInfoUpdated");
}
@Override
public void updateCameraInfo(AMapNaviCameraInfo[] aMapNaviCameraInfos) {
Log.d(TAG, "updateCameraInfo");
}
@Override
public void updateIntervalCameraInfo(AMapNaviCameraInfo aMapNaviCameraInfo, AMapNaviCameraInfo aMapNaviCameraInfo1, int i) {
Log.d(TAG, "updateIntervalCameraInfo");
}
@Override
public void onServiceAreaUpdate(AMapServiceAreaInfo[] aMapServiceAreaInfos) {
Log.d(TAG, "onServiceAreaUpdate");
}
@Override
public void showCross(AMapNaviCross aMapNaviCross) {
Log.d(TAG, "showCross");
}
@Override
public void hideCross() {
Log.d(TAG, "hideCross");
}
@Override
public void showModeCross(AMapModelCross aMapModelCross) {
Log.d(TAG, "showModeCross");
}
@Override
public void hideModeCross() {
Log.d(TAG, "hideModeCross");
}
@Override
public void showLaneInfo(AMapLaneInfo[] aMapLaneInfos, byte[] bytes, byte[] bytes1) {
Log.d(TAG, "showLaneInfo");
}
@Override
public void showLaneInfo(AMapLaneInfo aMapLaneInfo) {
Log.d(TAG, "showLaneInfo");
}
@Override
public void hideLaneInfo() {
Log.d(TAG, "hideLaneInfo");
}
@Override
public void notifyParallelRoad(int i) {
}
@Override
public void OnUpdateTrafficFacility(AMapNaviTrafficFacilityInfo[] aMapNaviTrafficFacilityInfos) {
}
@Override
public void OnUpdateTrafficFacility(AMapNaviTrafficFacilityInfo aMapNaviTrafficFacilityInfo) {
}
@Override
public void OnUpdateTrafficFacility(TrafficFacilityInfo trafficFacilityInfo) {
}
@Override
public void updateAimlessModeStatistics(AimLessModeStat aimLessModeStat) {
}
@Override
public void updateAimlessModeCongestionInfo(AimLessModeCongestionInfo aimLessModeCongestionInfo) {
}
@Override
public void onPlayRing(int i) {
}
//算路详情
@Override
public void onCalculateRouteSuccess(AMapCalcRouteResult aMapCalcRouteResult) {
Log.d(TAG, "onCalculateRouteSuccess aMapCalcRouteResult" + aMapCalcRouteResult.toString());
mAMapNavi.startNavi(NaviType.EMULATOR);
mAMapNaviView.displayOverview();
//停止导航测试代码
// UiThreadHandler.postDelayed(() -> {
// mAMapNavi.stopNavi();
// Log.d(TAG, "stop------------");
// }, 20000);
}
@Override
public void onCalculateRouteFailure(AMapCalcRouteResult aMapCalcRouteResult) {
Log.d(TAG, "onCalculateRouteFailure");
}
@Override
public void onNaviRouteNotify(AMapNaviRouteNotifyData aMapNaviRouteNotifyData) {
Log.d(TAG, "onNaviRouteNotify");
}
@Override
public void onNaviSetting() {
}
@Override
public void onNaviCancel() {
}
@Override
public boolean onNaviBackClick() {
return false;
}
@Override
public void onNaviMapMode(int i) {
}
@Override
public void onNaviTurnClick() {
}
@Override
public void onNextRoadClick() {
}
@Override
public void onScanViewButtonClick() {
}
@Override
public void onLockMap(boolean b) {
}
@Override
public void onNaviViewLoaded() {
}
@Override
public void onMapTypeChanged(int i) {
}
@Override
public void onNaviViewShowMode(int i) {
}
}