[8.2.8][需求] AIP开关修改为随时开关，引导线更改为aip开启时使用不同的颜色

2025-12-03 14:02:21 +08:00
parent aa5fdae1ac
commit fcdeb250b5
11 changed files with 120 additions and 53 deletions
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt
@@ -93,12 +93,12 @@ class DecisionDataManager private constructor() : IMoGoPlanningTrajectoryListene
        }
    }

-    override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
+    override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) {
        ThreadUtils.getCpuPool().execute {
            val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
            mogoMap?.let { map ->
                val lonLatList = ArrayList<android.graphics.Point>()
-                trajectoryInfos.forEach {
+                trajectory.pointsList.forEach {
                    map.toScreenLocation(it.longitude, it.latitude)?.let { point ->
                        lonLatList.add(point)
                        Log.d(TAG, "转换后的屏幕坐标为:(${point.x},${point.y})")
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -28,7 +28,7 @@ public class MogoRouteOverlayManager implements
    private static volatile MogoRouteOverlayManager sInstance;
    private static final String TAG = "Route";

-    private final LinkedList<List<MessagePad.TrajectoryPoint>> queue = new LinkedList<>();
+    private final LinkedList<MessagePad.Trajectory> queue = new LinkedList<>();

    private final AtomicBoolean hasGreenWave = new AtomicBoolean(false);

@@ -118,11 +118,11 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> items) {
+    public void onAutopilotTrajectory(@NonNull MessagePad.Trajectory trajectory) {
 //        Log.d(TAG, "-- onAutopilotTrajectory --: " + (items != null ? items.size() : "0"));
        synchronized (queue) {
            queue.clear();
-            queue.offer(items);
+            queue.offer(trajectory);
        }
    }

@@ -147,8 +147,8 @@ public class MogoRouteOverlayManager implements
 //        Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");
        synchronized (queue) {
            if (!queue.isEmpty()) {
-                List<MessagePad.TrajectoryPoint> items = queue.pollLast();
-                if (items != null && !items.isEmpty()) {
+                MessagePad.Trajectory items = queue.pollLast();
+                if (items != null && !items.getPointsList().isEmpty()) {
                    RouteOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading(), hasGreenWave.get());
                }
            }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
@@ -101,6 +101,7 @@ public class RouteOverlayDrawer {

    private class RenderTask implements Runnable {
        private volatile List<MessagePad.TrajectoryPoint> routeList;
+        private volatile boolean isAIPTrajectory;

        private final Pools.Pool<MogoLatLng> pools;
        private final LinkedList<MogoLatLng> points;
@@ -113,8 +114,9 @@ public class RouteOverlayDrawer {
            this.points = new LinkedList<>();
        }

-        public void setData(List<MessagePad.TrajectoryPoint> routeList, double bearing, boolean hasGreenWave) {
-            this.routeList = routeList;
+        public void setData(MessagePad.Trajectory trajectory, double bearing, boolean hasGreenWave) {
+            this.routeList = trajectory.getPointsList();
+            this.isAIPTrajectory = trajectory.getIsAIPTrajectory();
            this.bearing = bearing;
            this.hasGreenWave = hasGreenWave;
        }
@@ -139,7 +141,8 @@ public class RouteOverlayDrawer {
                }
                boolean isColorfulStrategy = !hasGreenWave && !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
                if (isColorfulStrategy) {
-                    RouteStrategy.INSTANCE.start();
+                    RouteStrategy.INSTANCE.start(isAIPTrajectory);
+//                    RouteStrategy.INSTANCE.start(FunctionBuildConfig.isActivateAip);
                } else {
                    if (colors == null || colors.isEmpty()) {
                        ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
@@ -294,12 +297,12 @@ public class RouteOverlayDrawer {

    private volatile RenderTask mRenderTask;

-    public void drawTrajectoryList(List<MessagePad.TrajectoryPoint> routeList, double bearing, boolean hasGreenWave) {
+    public void drawTrajectoryList(MessagePad.Trajectory trajectory, double bearing, boolean hasGreenWave) {
        if (mogoOverlayManager != null) {
            if (mRenderTask == null) {
                mRenderTask = new RenderTask();
            }
-            mRenderTask.setData(routeList, bearing, hasGreenWave);
+            mRenderTask.setData(trajectory, bearing, hasGreenWave);
            if (mRenderHandler != null) {
                mRenderHandler.removeCallbacks(mRenderTask);
                mRenderHandler.post(mRenderTask);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt
@@ -23,6 +23,12 @@ class Colors {
        val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF")
        val COLOR_RED_DARK = Color.parseColor("#FFFF5F00")
        val COLOR_TRANSPARENT = Color.parseColor("#0030A3FF")
+
+        // 新增：AIP 模式颜色定义
+        val COLOR_AIP_GREEN = Color.parseColor("#FFA428E1")
+        val COLOR_AIP_GREEN_DARK = Color.parseColor("#FFB948F8")
+        val COLOR_AIP_ORANGE = Color.parseColor("#FFFFF938")
+        val COLOR_AIP_TRANSPARENT = Color.parseColor("#00EA49FF")
    }
 }

@@ -53,7 +59,10 @@ object RouteStrategy {

    private var index = 0

+    // 默认颜色映射表
    private val sorted: NavigableMap<Double, Int> by lazy { TreeMap() }
+    // 新增：AIP 颜色映射表
+    private val aipSorted: NavigableMap<Double, Int> by lazy { TreeMap() }

    private var endEvaluator: ArgbEvaluator? = null

@@ -61,10 +70,18 @@ object RouteStrategy {

    private var hasLessThan0 = false

+    // 新增：当前是否为 AIP 模式
+    private var isAipMode = false
+
+    // 修改：增加 isAip 参数，默认为 false
    fun start() {
-        if (sorted.isEmpty()) {
+        start(false)
+    }
+    fun start(isAip: Boolean = false) {
+        if (sorted.isEmpty() || aipSorted.isEmpty()) {
            fill()
        }
+        isAipMode = isAip // 记录当前模式
        strategy = null
        index = 0
        startColor = Int.MAX_VALUE
@@ -88,7 +105,9 @@ object RouteStrategy {
        if (!isEnable) {
            return
        }
-        if (sorted.isEmpty()) {
+        // 根据模式选择对应的 Map
+        val currentMap = if (isAipMode) aipSorted else sorted
+        if (currentMap.isEmpty()) {
            return
        }
        if (acc < 0) {
@@ -96,7 +115,8 @@ object RouteStrategy {
        }
        val delta = (total * 0.35).toInt()
        val last = total - delta
-        val entry = sorted.floorEntry(acc)
+
+        val entry = currentMap.floorEntry(acc)
        if (entry != null) {
            if (index >= last - 1) {
                if (startColor == Int.MAX_VALUE) {
@@ -108,10 +128,12 @@ object RouteStrategy {
                } else {
                    if (endEvaluator != null) {
                        val fraction = (index - last) * 1.0f / delta
+                        // 根据模式选择对应的透明尾色
+                        val targetTransparent = if (isAipMode) Colors.COLOR_AIP_TRANSPARENT else COLOR_TRANSPARENT
                        colors += endEvaluator!!.evaluate(
                            fraction,
                            startColor,
-                            COLOR_TRANSPARENT
+                            targetTransparent
                        ) as Int
                    }
                }
@@ -126,10 +148,12 @@ object RouteStrategy {
        if (!isEnable) {
            return emptyList()
        }
-        if (sorted.isEmpty()) {
+        // 根据模式选择对应的 Map 进行移除操作
+        val currentMap = if (isAipMode) aipSorted else sorted
+        if (currentMap.isEmpty()) {
            throw AssertionError("sorted map must not be null.")
        }
-        val entry = sorted.floorEntry(acc)
+        val entry = currentMap.floorEntry(acc)
        if (entry != null) {
            colors.remove(entry.value)
        }
@@ -137,12 +161,15 @@ object RouteStrategy {
    }

    private fun fill() {
-        var startValue = -4.0
-        var endValue = 0.0
-        val step = 0.01
-        var current = startValue
        val evaluator = ArgbEvaluator()
        val interceptor = AccelerateInterpolator()
+        val step = 0.01
+
+        // 1. 填充默认颜色 (sorted)
+        // 减速段 (-4.0 ~ 0.0): 红 -> 蓝
+        var startValue = -4.0
+        var endValue = 0.0
+        var current = startValue
        var total = endValue - startValue
        while (current <= endValue) {
            val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat())
@@ -150,17 +177,44 @@ object RouteStrategy {
            sorted[current] = colorValue
            current += step
        }
+        // 加速段 (0.01 ~ 3.0): 蓝 -> 深蓝
        startValue = 0.01
        endValue = 3.0
        current = startValue
        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
        }
+
+        // 2. 填充 AIP 颜色 (aipSorted)
+        // 逻辑仿照上方：减速用 橙->绿，加速用 绿->深绿
+
+        // AIP 减速段 (-4.0 ~ 0.0): 橙色 -> 绿色
+        startValue = -4.0
+        endValue = 0.0
+        current = startValue
+        total = endValue - startValue
+        while (current <= endValue) {
+            val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat())
+            val colorValue = evaluator.evaluate(fraction, Colors.COLOR_AIP_ORANGE, Colors.COLOR_AIP_GREEN) as Int
+            aipSorted[current] = colorValue
+            current += step
+        }
+
+        // AIP 加速段 (0.01 ~ 3.0): 绿色 -> 深绿色
+        startValue = 0.01
+        endValue = 3.0
+        current = startValue
+        total = endValue - startValue
+        while (current <= endValue) {
+            val fraction = (current - startValue) / total
+            val colorValue = evaluator.evaluate(fraction.toFloat(), Colors.COLOR_AIP_GREEN, Colors.COLOR_AIP_GREEN_DARK) as Int
+            aipSorted[current] = colorValue
+            current += step
+        }
    }

    fun getStrategy(): Strategy = if (isEnable) {