预警信息导航功能

app/src/main/java/com/navinfo/omqs/bean/NaviRoute.kt

@@ -16,7 +16,7 @@ data class NaviRoute(
     //方向
     var direct: Int = 0,
     //道路名称
-    var name: String = "",
+    var name: RenderEntity? = null,
     //路段总长
     var length: Double = 0.0,
     //当前link在整段路径中的起点

app/src/main/java/com/navinfo/omqs/db/RealmOperateHelper.kt

@@ -200,7 +200,7 @@ class RealmOperateHelper() {
         var link: RenderEntity? = null
         val realm = getSelectTaskRealmInstance()
         val realmR =
-            getSelectTaskRealmTools(RenderEntity::class.java, true).equalTo("table", "OMDB_RD_LINK")
+            realm.where(RenderEntity::class.java).equalTo("table", "OMDB_RD_LINK")
                 .equalTo("properties['${LinkTable.linkPid}']", linkPid).findFirst()
         if (realmR != null) {
             link = realm.copyFromRealm(realmR)
@@ -287,14 +287,14 @@ class RealmOperateHelper() {
                 .findAll()
         } else {
             // 查询realm中对应tile号的数据
-            if(Constant.CATCH_ALL){
+            if (Constant.CATCH_ALL) {
                 realmList = getSelectTaskRealmTools(RenderEntity::class.java, false)
                     .greaterThanOrEqualTo("tileX", xStart)
                     .lessThanOrEqualTo("tileX", xEnd)
                     .greaterThanOrEqualTo("tileY", yStart)
                     .lessThanOrEqualTo("tileY", yEnd)
                     .findAll()
-            }else{
+            } else {
                 realmList = getSelectTaskRealmTools(RenderEntity::class.java, false)
                     .greaterThanOrEqualTo("tileX", xStart)
                     .lessThanOrEqualTo("tileX", xEnd)

app/src/main/java/com/navinfo/omqs/ui/activity/map/MainActivity.kt

@@ -27,6 +27,7 @@ import com.blankj.utilcode.util.ClipboardUtils
 import com.google.android.material.dialog.MaterialAlertDialogBuilder
 import com.google.android.material.tabs.TabLayout
 import com.navinfo.collect.library.data.entity.RenderEntity
+import com.navinfo.collect.library.data.entity.TaskBean
 import com.navinfo.collect.library.map.NIMapController
 import com.navinfo.collect.library.map.handler.MeasureLayerHandler
 import com.navinfo.omqs.Constant
@@ -38,6 +39,7 @@ import com.navinfo.omqs.databinding.ActivityMainBinding
 import com.navinfo.omqs.http.offlinemapdownload.OfflineMapDownloadManager
 import com.navinfo.omqs.tools.LayerConfigUtils
 import com.navinfo.omqs.ui.activity.BaseActivity
+import com.navinfo.omqs.ui.dialog.LoadingDialog
 import com.navinfo.omqs.ui.fragment.console.ConsoleFragment
 import com.navinfo.omqs.ui.fragment.itemlist.ItemListFragment
 import com.navinfo.omqs.ui.fragment.offlinemap.OfflineMapFragment
@@ -47,6 +49,7 @@ import com.navinfo.omqs.ui.fragment.tasklist.TaskManagerFragment
 import com.navinfo.omqs.ui.other.BaseToast
 import com.navinfo.omqs.ui.widget.RecyclerViewSpacesItemDecoration
 import com.navinfo.omqs.util.FlowEventBus
+import com.navinfo.omqs.util.NaviStatus
 import com.navinfo.omqs.util.SignUtil
 import com.navinfo.omqs.util.SpeakMode
 import dagger.hilt.android.AndroidEntryPoint
@@ -66,6 +69,12 @@ class MainActivity : BaseActivity() {
 
     private lateinit var binding: ActivityMainBinding
     private val viewModel by viewModels<MainViewModel>()
+    private val loadingDialog by lazy {
+        MaterialAlertDialogBuilder(
+            this,
+            com.google.android.material.R.style.MaterialAlertDialog_Material3_Animation
+        ).setMessage("正在计算路线中...").setCancelable(false).show()
+    }
 
     /**
      * 左侧fragment
@@ -280,9 +289,10 @@ class MainActivity : BaseActivity() {
         //道路绑定，名称变化
         viewModel.liveDataRoadName.observe(this) {
             if (it != null) {
+                binding.mainActivityRoadName.visibility = View.VISIBLE
                 binding.mainActivityRoadName.text = it.properties["name"]
             } else {
-                binding.mainActivityRoadName.text = "   "
+                binding.mainActivityRoadName.visibility = View.INVISIBLE
             }
         }
 
@@ -325,7 +335,7 @@ class MainActivity : BaseActivity() {
                             7, RoundingMode.HALF_UP
                         )
                     },${BigDecimal(it.latitude).setScale(7, RoundingMode.HALF_UP)}"
-                    if(Constant.AUTO_LOCATION){
+                    if (Constant.AUTO_LOCATION) {
                         viewModel.startAutoLocationTimer()
                     }
                     binding.mainActivityLocation.setImageResource(R.drawable.icon_location)
@@ -334,8 +344,8 @@ class MainActivity : BaseActivity() {
                 Log.e("qj", "异常 $e")
             }
         }
-        viewModel.liveDataAutoLocation.observe(this){
+        viewModel.liveDataAutoLocation.observe(this) {
-            if(it==true){
+            if (it == true) {
                 onClickLocation()
             }
         }
@@ -418,6 +428,52 @@ class MainActivity : BaseActivity() {
             Toast.makeText(this, it, Toast.LENGTH_SHORT).show()
         }
 
+        viewModel.liveDataNaviStatus.observe(this) {
+            when (it) {
+                NaviStatus.NAVI_STATUS_PATH_ERROR_BLOCKED -> {
+                    Toast.makeText(
+                        this,
+                        "路径不通，请检查",
+                        Toast.LENGTH_SHORT
+                    ).show()
+                    if (loadingDialog.isShowing)
+                        loadingDialog.dismiss()
+                }
+                NaviStatus.NAVI_STATUS_PATH_PLANNING -> {
+                    if (!loadingDialog.isShowing)
+                        loadingDialog.show()
+                }
+                NaviStatus.NAVI_STATUS_PATH_ERROR_NODE -> {
+                    Toast.makeText(
+                        this,
+                        "查询link基本信息表失败（node表）",
+                        Toast.LENGTH_SHORT
+                    ).show()
+                    loadingDialog.dismiss()
+                }
+
+                NaviStatus.NAVI_STATUS_PATH_ERROR_DIRECTION -> {
+                    Toast.makeText(
+                        this,
+                        "查询link基本信息表失败（方向表）",
+                        Toast.LENGTH_SHORT
+                    ).show()
+                    loadingDialog.dismiss()
+                }
+                NaviStatus.NAVI_STATUS_PATH_SUCCESS -> {
+                    loadingDialog.dismiss()
+                }
+                NaviStatus.NAVI_STATUS_DISTANCE_OFF -> {
+                    Toast.makeText(
+                        this,
+                        "偏离路线",
+                        Toast.LENGTH_SHORT
+                    ).show()
+                }
+                NaviStatus.NAVI_STATUS_DIRECTION_OFF -> TODO()
+            }
+        }
+
         viewModel.liveDataItemList.observe(this) {
             if (it.isNotEmpty()) {
                 if (leftFragment == null || leftFragment !is ItemListFragment) {
@@ -1102,7 +1158,7 @@ class MainActivity : BaseActivity() {
      * 路径规划
      */
     fun onClickRouteFragment() {
-        Toast.makeText(this, "功能开发中", Toast.LENGTH_SHORT).show()
+        viewModel.planningPath()
     }
 
     /**

app/src/main/java/com/navinfo/omqs/ui/activity/map/MainViewModel.kt

@@ -86,7 +86,7 @@ class MainViewModel @Inject constructor(
     private var mCameraDialog: CommonDialog? = null
 
     //路径计算
-    val liveDataPlanningPathStatus = MutableLiveData<Int>()
+    val liveDataNaviStatus = MutableLiveData<NaviStatus>()
 
     //地图点击捕捉到的质检数据ID列表
     val liveDataQsRecordIdList = MutableLiveData<List<String>>()
@@ -124,6 +124,7 @@ class MainViewModel @Inject constructor(
      */
     val listDataMessage = MutableLiveData<String>()
 
+
     private var traceTag: String = "TRACE_TAG"
 
     /**
@@ -201,9 +202,11 @@ class MainViewModel @Inject constructor(
     /**
      * 测量类型
      */
-    var measuringType: MeasureLayerHandler.MEASURE_TYPE =
+    var measuringType: MeasureLayerHandler.MEASURE_TYPE = MeasureLayerHandler.MEASURE_TYPE.DISTANCE
-        MeasureLayerHandler.MEASURE_TYPE.DISTANCE
 
+    /**
+     * 捕捉到的上一条link
+     */
     var linkIdCache = ""
 
     private var lastNiLocaion: NiLocation? = null
@@ -230,8 +233,8 @@ class MainViewModel @Inject constructor(
     //导航信息
     private var naviEngine: NaviEngine? = null
 
-    //规划成功
+    // 0:不导航 1：导航 2：暂停
-    private var naviPathSuccess = false
+    private var naviEngineStatus = 0
 
     // 定义一个互斥锁
     private val naviMutex = Mutex()
@@ -257,8 +260,7 @@ class MainViewModel @Inject constructor(
         /**
          * 处理点击道路捕捉回调功能
          */
-        mapController.mMapView.addOnNIMapClickListener(
+        mapController.mMapView.addOnNIMapClickListener(TAG,
-            TAG,
             //处理地图点击操作
             object : OnGeoPointClickListener {
                 override fun onMapClick(tag: String, point: GeoPoint) {
@@ -283,8 +285,7 @@ class MainViewModel @Inject constructor(
              */
             object : OnQsRecordItemClickListener {
                 override fun onQsRecordList(tag: String, list: MutableList<String>) {
-                    if (tag == TAG)
+                    if (tag == TAG) liveDataQsRecordIdList.value = list
-                        liveDataQsRecordIdList.value = list
                 }
             },
             /**
@@ -292,8 +293,7 @@ class MainViewModel @Inject constructor(
              */
             object : OnTaskLinkItemClickListener {
                 override fun onTaskLink(tag: String, taskLinkId: String) {
-                    if (tag == TAG)
+                    if (tag == TAG) liveDataTaskLink.value = taskLinkId
-                        liveDataTaskLink.value = taskLinkId
                 }
             },
             /**
@@ -301,8 +301,7 @@ class MainViewModel @Inject constructor(
              */
             object : ONNoteItemClickListener {
                 override fun onNote(tag: String, noteId: String) {
-                    if (tag == TAG)
+                    if (tag == TAG) liveDataNoteId.value = noteId
-                        liveDataNoteId.value = noteId
                 }
 
             },
@@ -311,11 +310,9 @@ class MainViewModel @Inject constructor(
              */
             object : OnNiLocationItemListener {
                 override fun onNiLocation(tag: String, index: Int, it: NiLocation) {
-                    if (tag == TAG)
+                    if (tag == TAG) liveDataNILocationList.value = it
-                        liveDataNILocationList.value = it
                 }
-            }
+            })
-        )
 
         viewModelScope.launch(Dispatchers.IO) {
             getTaskBean()
@@ -339,26 +336,26 @@ class MainViewModel @Inject constructor(
         socketServer = SocketServer(mapController, traceDataBase, sharedPreferences)
 
         viewModelScope.launch(Dispatchers.Default) {
-//            naviTestFlow().collect { point ->
+            naviTestFlow().collect { point ->
-//                if (naviPathSuccess) {
+                if (naviEngineStatus == 1) {
-//                    naviEngine?.let {
+                    naviEngine?.let {
-//                        naviMutex.lock()
+                        naviMutex.lock()
-//                        it.bindingRoute(null, point)
+                        it.bindingRoute(null, point)
-//                        naviMutex.unlock()
+                        naviMutex.unlock()
-//                    }
+                    }
-//                }
+                }
-//            }
+            }
         }
     }
 
 
-//    fun naviTestFlow(): Flow<GeoPoint> = flow {
+    fun naviTestFlow(): Flow<GeoPoint> = flow {
-//
+
-//        while (true) {
+        while (true) {
-//            emit(mapController.mMapView.vtmMap.mapPosition.geoPoint)
+            emit(mapController.mMapView.vtmMap.mapPosition.geoPoint)
-//            delay(1000)
+            delay(1000)
-//        }
+        }
-//    }
+    }
 
     /**
      * 获取当前任务
@@ -369,55 +366,68 @@ class MainViewModel @Inject constructor(
         val res = realm.where(TaskBean::class.java).equalTo("id", id).findFirst()
         if (res != null) {
             currentTaskBean = realm.copyFromRealm(res)
-//            planningPath(currentTaskBean!!)
         }
         realm.close()
     }
 
-
+    /**
-    private fun planningPath(taskBean: TaskBean) {
+     * 规划路径
-        if (taskBean.status == FileManager.Companion.FileDownloadStatus.DONE) {
+     */
-//            Toast.makeText(context, "正在计算导航路径", Toast.LENGTH_SHORT).show()
+    fun planningPath() {
-            viewModelScope.launch(Dispatchers.Default) {
+        viewModelScope.launch(Dispatchers.Default) {
-                naviMutex.lock()
+            naviMutex.lock()
-                naviEngine = NaviEngine(
+            getTaskBean()
-                    niMapController = mapController,
+            if (currentTaskBean != null && currentTaskBean!!.status == FileManager.Companion.FileDownloadStatus.DONE) {
+                naviEngine = NaviEngine(niMapController = mapController,
+                    realmOperateHelper = realmOperateHelper,
                     callback = object : OnNaviEngineCallbackListener {
-                        override fun planningPathSuccess() {
+
-                            naviPathSuccess = true
+                        override fun planningPathStatus(status: NaviStatus) {
-                            listDataMessage.postValue("导航路径规划完成")
+                            when (status) {
+                                NaviStatus.NAVI_STATUS_PATH_PLANNING -> naviEngineStatus = 0
+                                NaviStatus.NAVI_STATUS_PATH_ERROR_NODE -> naviEngineStatus = 0
+                                NaviStatus.NAVI_STATUS_PATH_ERROR_DIRECTION -> naviEngineStatus = 0
+                                NaviStatus.NAVI_STATUS_PATH_ERROR_BLOCKED -> naviEngineStatus = 0
+                                NaviStatus.NAVI_STATUS_PATH_SUCCESS -> naviEngineStatus = 1
+                                NaviStatus.NAVI_STATUS_DISTANCE_OFF -> {
+                                }
+                                NaviStatus.NAVI_STATUS_DIRECTION_OFF -> {}
+                            }
+                            liveDataNaviStatus.postValue(status)
                         }
 
-                        override fun planningPathError(errorCode: Int, errorMessage: String) {
+                        override suspend fun bindingResults(
-                            naviPathSuccess = false
+                            route: NaviRoute?,
-                            listDataMessage.postValue(errorMessage)
+                            list: List<NaviRouteItem>
-                        }
+                        ) {
-
-                        override fun bindingResults(list: List<NaviRouteItem>) {
                             val signList = mutableListOf<SignBean>()
                             for (naviRouteItem in list) {
+
                                 val signBean = SignBean(
                                     iconId = SignUtil.getSignIcon(naviRouteItem.data),
                                     iconText = SignUtil.getSignIconText(naviRouteItem.data),
                                     linkId = naviRouteItem.linkId,
                                     distance = naviRouteItem.distance,
                                     name = SignUtil.getSignNameText(naviRouteItem.data),
-                                    bottomRightText = SignUtil.getSignBottomRightText(naviRouteItem.data),
+                                    bottomRightText = SignUtil.getSignBottomRightText(
+                                        naviRouteItem.data
+                                    ),
                                     renderEntity = naviRouteItem.data,
                                     isMoreInfo = SignUtil.isMoreInfo(naviRouteItem.data),
                                     index = SignUtil.getRoadInfoIndex(naviRouteItem.data)
                                 )
                                 signList.add(signBean)
                             }
+                            if (route != null) {
+                                liveDataRoadName.postValue(route.name)
+                                captureTopSign(route)
+                            }
                             liveDataSignList.postValue(signList)
                         }
                     })
-                listDataMessage.postValue("开始导航路径规划")
+                naviEngine!!.planningPath(currentTaskBean!!)
-                naviEngine!!.planningPath(taskBean)
                 naviMutex.unlock()
             }
-        } else {
-            listDataMessage.postValue("数据未安装，无法计算导航路径")
         }
     }
 
@@ -439,8 +449,7 @@ class MainViewModel @Inject constructor(
             var list = mutableListOf<QsRecordBean>()
             val realm = realmOperateHelper.getRealmDefaultInstance()
             realm.executeTransaction {
-                val objects =
+                val objects = realmOperateHelper.getRealmTools(QsRecordBean::class.java).findAll()
-                    realmOperateHelper.getRealmTools(QsRecordBean::class.java).findAll()
                 list = realm.copyFromRealm(objects)
             }
             realm.close()
@@ -529,8 +538,10 @@ class MainViewModel @Inject constructor(
                     //增加间距判断
                     if (lastNiLocaion != null) {
                         disance = GeometryTools.getDistance(
-                            location.latitude, location.longitude,
+                            location.latitude,
-                            lastNiLocaion!!.latitude, lastNiLocaion!!.longitude
+                            location.longitude,
+                            lastNiLocaion!!.latitude,
+                            lastNiLocaion!!.longitude
                         )
                     }
                     //室内整理工具时不能进行轨迹存储，判断轨迹间隔要超过2.5并小于60米
@@ -570,18 +581,17 @@ class MainViewModel @Inject constructor(
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
             val itemList = realmOperateHelper.queryElement(
                 GeometryTools.createPoint(
-                    point.longitude,
+                    point.longitude, point.latitude
-                    point.latitude
                 ),
                 buffer = 2.4, catchAll = false,
             )
             //增加道路线过滤原则
             val filterResult = itemList.filter {
-                if(isHighRoad()){
+                if (isHighRoad()) {
-                    mapController.mMapView.mapLevel>=it.zoomMin&&mapController.mMapView.mapLevel<=it.zoomMax
+                    mapController.mMapView.mapLevel >= it.zoomMin && mapController.mMapView.mapLevel <= it.zoomMax
-                }else{
+                } else {
                     //关闭时过滤道路线捕捉s
-                    mapController.mMapView.mapLevel>=it.zoomMin&&mapController.mMapView.mapLevel<=it.zoomMax&&it.code!=DataCodeEnum.OMDB_RD_LINK.code
+                    mapController.mMapView.mapLevel >= it.zoomMin && mapController.mMapView.mapLevel <= it.zoomMax && it.code != DataCodeEnum.OMDB_RD_LINK.code
                 }
             }.toList()
             if (filterResult.size == 1) {
@@ -592,6 +602,108 @@ class MainViewModel @Inject constructor(
         }
     }
 
+    /**
+     * 获取道路属性
+     */
+    private suspend fun captureTopSign(route: NaviRoute) {
+        try {
+            captureLinkState = true
+
+            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+                //看板数据
+                val signList = mutableListOf<SignBean>()
+                val topSignList = mutableListOf<SignBean>()
+                mapController.lineHandler.linksLayer.clear()
+                if (linkIdCache != route.linkId) {
+
+                    mapController.lineHandler.showLine(route.pointList)
+                    var elementList = realmOperateHelper.queryLinkByLinkPid(route.linkId)
+                    for (element in elementList) {
+
+                        when (element.code) {
+                            DataCodeEnum.OMDB_MULTI_DIGITIZED.code,//上下线分离
+                            DataCodeEnum.OMDB_CON_ACCESS.code,//全封闭
+                            -> {
+                                val signBean = SignBean(
+                                    iconId = SignUtil.getSignIcon(element),
+                                    iconText = SignUtil.getSignIconText(element),
+                                    linkId = route.linkId,
+                                    name = SignUtil.getSignNameText(element),
+                                    bottomRightText = SignUtil.getSignBottomRightText(element),
+                                    renderEntity = element,
+                                    isMoreInfo = SignUtil.isMoreInfo(element),
+                                    index = SignUtil.getRoadInfoIndex(element)
+                                )
+                                if (signBean.iconText != "") {
+                                    topSignList.add(
+                                        signBean
+                                    )
+                                }
+                            }
+
+                            DataCodeEnum.OMDB_LANE_NUM.code, //车道数
+                            DataCodeEnum.OMDB_RD_LINK_KIND.code,//种别，
+                            DataCodeEnum.OMDB_RD_LINK_FUNCTION_CLASS.code, // 功能等级,
+                            DataCodeEnum.OMDB_LINK_SPEEDLIMIT.code, //线限速,
+                            DataCodeEnum.OMDB_LINK_DIRECT.code,//道路方向,
+                            DataCodeEnum.OMDB_RAMP.code, //匝道
+                            DataCodeEnum.OMDB_BRIDGE.code,//桥
+                            DataCodeEnum.OMDB_TUNNEL.code,//隧道
+                            DataCodeEnum.OMDB_ROUNDABOUT.code,//环岛
+                            DataCodeEnum.OMDB_LINK_ATTRIBUTE_MAIN_SIDE_ACCESS.code,//出入口
+                            DataCodeEnum.OMDB_LINK_ATTRIBUTE_FORNTAGE.code,//辅路
+                            DataCodeEnum.OMDB_LINK_ATTRIBUTE_SA.code,//SA
+                            DataCodeEnum.OMDB_LINK_ATTRIBUTE_PA.code,//PA
+                            DataCodeEnum.OMDB_LINK_FORM1_1.code,
+                            DataCodeEnum.OMDB_LINK_FORM1_2.code,
+                            DataCodeEnum.OMDB_LINK_FORM1_3.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_1.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_2.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_3.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_4.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_5.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_6.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_7.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_8.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_9.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_10.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_11.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_12.code,
+                            DataCodeEnum.OMDB_LINK_FORM2_13.code,
+                            DataCodeEnum.OMDB_VIADUCT.code,
+                            -> {
+                                val signBean = SignBean(
+                                    iconId = SignUtil.getSignIcon(element),
+                                    iconText = SignUtil.getSignIconText(element),
+                                    linkId = route.linkId,
+                                    name = SignUtil.getSignNameText(element),
+                                    bottomRightText = SignUtil.getSignBottomRightText(element),
+                                    renderEntity = element,
+                                    isMoreInfo = SignUtil.isMoreInfo(element),
+                                    index = SignUtil.getRoadInfoIndex(element)
+                                )
+                                topSignList.add(
+                                    signBean
+                                )
+                            }
+                        }
+                    }
+
+                    liveDataTopSignList.postValue(topSignList.distinctBy { it.name }
+                        .sortedBy { it.index })
+
+                    val speechText = SignUtil.getRoadSpeechText(topSignList)
+                    withContext(Dispatchers.Main) {
+                        speakMode?.speakText(speechText)
+                    }
+                    linkIdCache = route.linkId ?: ""
+                }
+            }
+        } catch (e: Exception) {
+
+        }
+    }
+
     /**
      * 捕获道路和面板
      */
@@ -616,22 +728,18 @@ class MainViewModel @Inject constructor(
                 var hisRoadName = false
 
                 if (linkList.isNotEmpty()) {
+                    val link = linkList[0]
+                    val linkId = link.properties[RenderEntity.Companion.LinkTable.linkPid]
                     //看板数据
                     val signList = mutableListOf<SignBean>()
                     val topSignList = mutableListOf<SignBean>()
                     mapController.lineHandler.linksLayer.clear()
-
-                    val link = linkList[0]
-
-                    val linkId = link.properties[RenderEntity.Companion.LinkTable.linkPid]
-
                     if (linkIdCache != linkId) {
 
                         mapController.lineHandler.showLine(link.geometry)
                         linkId?.let {
                             var elementList = realmOperateHelper.queryLinkByLinkPid(it)
                             for (element in elementList) {
-
                                 if (element.code == DataCodeEnum.OMDB_LINK_NAME.code) {
                                     hisRoadName = true
                                     liveDataRoadName.postValue(element)
@@ -693,7 +801,6 @@ class MainViewModel @Inject constructor(
                                     -> topSignList.add(
                                         signBean
                                     )
-
                                     DataCodeEnum.OMDB_SPEEDLIMIT.code,//常规点限速
                                     DataCodeEnum.OMDB_SPEEDLIMIT_COND.code,//条件点限速
                                     DataCodeEnum.OMDB_SPEEDLIMIT_VAR.code,//可变点限速
@@ -702,40 +809,34 @@ class MainViewModel @Inject constructor(
                                     DataCodeEnum.OMDB_LANEINFO.code,//车信
                                     DataCodeEnum.OMDB_WARNINGSIGN.code,//危险信息
                                     DataCodeEnum.OMDB_TOLLGATE.code,//收费站
-                                    -> signList.add(
+                                    -> {
-                                        signBean
+                                        signList.add(
-                                    )
+                                            signBean
+                                        )
+                                    }
                                 }
 
                             }
 
                             val realm = realmOperateHelper.getSelectTaskRealmInstance()
 
-                            val entityList =
+                            val entityList = realmOperateHelper.getSelectTaskRealmTools(
-                                realmOperateHelper.getSelectTaskRealmTools(
+                                RenderEntity::class.java, true
-                                    RenderEntity::class.java,
+                            ).and().equalTo("table", DataCodeEnum.OMDB_RESTRICTION.name).and()
-                                    true
+                                .equalTo(
-                                )
+                                    "properties['linkIn']", it
-                                    .and()
+                                ).findAll()
-                                    .equalTo("table", DataCodeEnum.OMDB_RESTRICTION.name)
-                                    .and()
-                                    .equalTo(
-                                        "properties['linkIn']", it
-                                    ).findAll()
                             if (entityList.isNotEmpty()) {
                                 val outList = entityList.distinct()
                                 for (i in outList.indices) {
                                     val outLink = outList[i].properties["linkOut"]
-                                    val linkOutEntity =
+                                    val linkOutEntity = realmOperateHelper.getSelectTaskRealmTools(
-                                        realmOperateHelper.getSelectTaskRealmTools(
+                                        RenderEntity::class.java, true
-                                            RenderEntity::class.java,
+                                    ).equalTo("table", DataCodeEnum.OMDB_RD_LINK.name).and()
-                                            true
+                                        .equalTo(
-                                        )
+                                            "properties['${RenderEntity.Companion.LinkTable.linkPid}']",
-                                            .equalTo("table", DataCodeEnum.OMDB_RD_LINK.name).and()
+                                            outLink
-                                            .equalTo(
+                                        ).findFirst()
-                                                "properties['${RenderEntity.Companion.LinkTable.linkPid}']",
-                                                outLink
-                                            ).findFirst()
                                     if (linkOutEntity != null) {
                                         mapController.lineHandler.linksLayer.addLine(
                                             linkOutEntity.geometry, 0x7DFF0000
@@ -743,8 +844,7 @@ class MainViewModel @Inject constructor(
                                     }
                                 }
                                 mapController.lineHandler.linksLayer.addLine(
-                                    link.geometry,
+                                    link.geometry, Color.BLUE
-                                    Color.BLUE
                                 )
                                 realm.close()
                             }
@@ -785,7 +885,6 @@ class MainViewModel @Inject constructor(
         mapPosition.setBearing(0f) // 锁定角度，自动将地图旋转到正北方向
         mapController.mMapView.vtmMap.setMapPosition(mapPosition)
         mapController.locationLayerHandler.animateToCurrentPosition()
-        planningPath(currentTaskBean!!)
     }
 
     /**
@@ -794,7 +893,7 @@ class MainViewModel @Inject constructor(
     fun onClickMenu() {
         menuState = !menuState
         liveDataMenuState.postValue(menuState)
-        naviEngine!!.bindingRoute(null, mapController.mMapView.vtmMap.mapPosition.geoPoint)
+//        naviEngine!!.bindingRoute(null, mapController.mMapView.vtmMap.mapPosition.geoPoint)
     }
 
     override fun onCleared() {
@@ -955,6 +1054,11 @@ class MainViewModel @Inject constructor(
         linkIdCache = ""
         mapController.lineHandler.removeLine()
         liveDataSignList.value = mutableListOf()
+        if (bSelectRoad && naviEngineStatus == 1) {
+            naviEngineStatus = 2
+        } else if (naviEngineStatus == 2) {
+            naviEngineStatus = 1
+        }
     }
 
     /**
@@ -1044,9 +1148,7 @@ class MainViewModel @Inject constructor(
     }
 
     fun sendServerCommand(
-        context: Context,
+        context: Context, traceVideoBean: TraceVideoBean, indoorToolsCommand: IndoorToolsCommand
-        traceVideoBean: TraceVideoBean,
-        indoorToolsCommand: IndoorToolsCommand
     ) {
 
         if (TextUtils.isEmpty(Constant.INDOOR_IP)) {
@@ -1060,8 +1162,7 @@ class MainViewModel @Inject constructor(
             val url = "http://${Constant.INDOOR_IP}:8080/sensor/service/${traceVideoBean.command}?"
 
             when (val result = networkService.sendServerCommand(
-                url = url,
+                url = url, traceVideoBean = traceVideoBean
-                traceVideoBean = traceVideoBean
             )) {
                 is NetResult.Success<*> -> {
 
@@ -1074,9 +1175,7 @@ class MainViewModel @Inject constructor(
 
                                 withContext(Dispatchers.Main) {
                                     Toast.makeText(
-                                        context,
+                                        context, "命令成功。", Toast.LENGTH_LONG
-                                        "命令成功。",
-                                        Toast.LENGTH_LONG
                                     ).show()
 
                                     liveIndoorToolsResp.postValue(IndoorToolsResp.QR_CODE_STATUS_UPDATE_VIDEO_INFO_SUCCESS)
@@ -1086,8 +1185,7 @@ class MainViewModel @Inject constructor(
                                     //启动双向控制服务
                                     if (socketServer != null && socketServer!!.isServerClose) {
                                         socketServer!!.connect(
-                                            Constant.INDOOR_IP,
+                                            Constant.INDOOR_IP, this@MainViewModel
-                                            this@MainViewModel
                                         )
                                     }
 
@@ -1098,8 +1196,7 @@ class MainViewModel @Inject constructor(
                                         context,
                                         "命令无效${defaultUserResponse.errmsg}",
                                         Toast.LENGTH_SHORT
-                                    )
+                                    ).show()
-                                        .show()
                                 }
                                 liveIndoorToolsResp.postValue(IndoorToolsResp.QR_CODE_STATUS_UPDATE_VIDEO_INFO_FAILURE)
                             }
@@ -1107,9 +1204,7 @@ class MainViewModel @Inject constructor(
                         } catch (e: IOException) {
                             withContext(Dispatchers.Main) {
                                 Toast.makeText(
-                                    context,
+                                    context, "${e.message}", Toast.LENGTH_SHORT
-                                    "${e.message}",
-                                    Toast.LENGTH_SHORT
                                 ).show()
                             }
                         }
@@ -1119,11 +1214,8 @@ class MainViewModel @Inject constructor(
                 is NetResult.Error<*> -> {
                     withContext(Dispatchers.Main) {
                         Toast.makeText(
-                            context,
+                            context, "${result.exception.message}", Toast.LENGTH_SHORT
-                            "${result.exception.message}",
+                        ).show()
-                            Toast.LENGTH_SHORT
-                        )
-                            .show()
                     }
                     liveIndoorToolsResp.postValue(IndoorToolsResp.QR_CODE_STATUS_UPDATE_VIDEO_INFO_FAILURE)
                 }
@@ -1131,11 +1223,8 @@ class MainViewModel @Inject constructor(
                 is NetResult.Failure<*> -> {
                     withContext(Dispatchers.Main) {
                         Toast.makeText(
-                            context,
+                            context, "${result.code}:${result.msg}", Toast.LENGTH_SHORT
-                            "${result.code}:${result.msg}",
+                        ).show()
-                            Toast.LENGTH_SHORT
-                        )
-                            .show()
                     }
                     liveIndoorToolsResp.postValue(IndoorToolsResp.QR_CODE_STATUS_UPDATE_VIDEO_INFO_FAILURE)
                 }
@@ -1158,8 +1247,7 @@ class MainViewModel @Inject constructor(
             if (niLocation != null) {
                 mapController.markerHandle.addMarker(
                     GeoPoint(
-                        niLocation.latitude,
+                        niLocation.latitude, niLocation.longitude
-                        niLocation.longitude
                     ), traceTag, "", niLocation as java.lang.Object
                 )
             }
@@ -1197,9 +1285,7 @@ class MainViewModel @Inject constructor(
     override fun onConnect(success: Boolean) {
         if (!success && socketServer != null) {
             BaseToast.makeText(
-                mapController.mMapView.context,
+                mapController.mMapView.context, "轨迹反向控制服务失败，请确认连接是否正常！", Toast.LENGTH_SHORT
-                "轨迹反向控制服务失败，请确认连接是否正常！",
-                Toast.LENGTH_SHORT
             ).show()
         }
     }
@@ -1228,9 +1314,7 @@ class MainViewModel @Inject constructor(
             Log.e("qj", "反向控制$currentIndexNiLocation")
         } else {
             BaseToast.makeText(
-                mapController.mMapView.context,
+                mapController.mMapView.context, "没有找到对应轨迹点！", Toast.LENGTH_SHORT
-                "没有找到对应轨迹点！",
-                Toast.LENGTH_SHORT
             ).show()
         }
     }
@@ -1274,8 +1358,7 @@ class MainViewModel @Inject constructor(
                     startTimer()
                 }
             } else {
-                Toast.makeText(mapController.mMapView.context, "无数据了！", Toast.LENGTH_LONG)
+                Toast.makeText(mapController.mMapView.context, "无数据了！", Toast.LENGTH_LONG).show()
-                    .show()
                 cancelTrace()
             }
         }
@@ -1292,13 +1375,13 @@ class MainViewModel @Inject constructor(
     /**
      * 开启自动定位
      */
-    fun startAutoLocationTimer(){
+    fun startAutoLocationTimer() {
         if (autoLocationTimer != null) {
             cancelAutoLocation()
         }
         autoLocationTimer = fixedRateTimer("", false, disAutoLocationTime, disAutoLocationTime) {
             liveDataAutoLocation.postValue(true)
-            Log.e("qj","自动定位开始执行")
+            Log.e("qj", "自动定位开始执行")
             startAutoLocationTimer()
         }
     }
@@ -1371,9 +1454,7 @@ class MainViewModel @Inject constructor(
                         } else {
                             withContext(Dispatchers.Main) {
                                 Toast.makeText(
-                                    mapController.mMapView.context,
+                                    mapController.mMapView.context, "未查询到数据", Toast.LENGTH_SHORT
-                                    "未查询到数据",
-                                    Toast.LENGTH_SHORT
                                 ).show()
                             }
                         }
@@ -1396,9 +1477,7 @@ class MainViewModel @Inject constructor(
                         } else {
                             withContext(Dispatchers.Main) {
                                 Toast.makeText(
-                                    mapController.mMapView.context,
+                                    mapController.mMapView.context, "未查询到数据", Toast.LENGTH_SHORT
-                                    "未查询到数据",
-                                    Toast.LENGTH_SHORT
                                 ).show()
                             }
                         }
@@ -1415,9 +1494,7 @@ class MainViewModel @Inject constructor(
                         dialog.dismiss()
                     } else {
                         Toast.makeText(
-                            mapController.mMapView.context,
+                            mapController.mMapView.context, "输入格式不正确", Toast.LENGTH_SHORT
-                            "输入格式不正确",
-                            Toast.LENGTH_SHORT
                         ).show()
                     }
                 }

app/src/main/java/com/navinfo/omqs/ui/activity/map/SignAdapter.kt

@@ -79,6 +79,7 @@ class SignAdapter(private var listener: OnSignAdapterClickListener?) :
                 val bd = holder.viewBinding
 
                 if (item.iconId != 0) {
+                    bd.signMainIconBg.visibility = View.VISIBLE
                     if (item.renderEntity.code == DataCodeEnum.OMDB_WARNINGSIGN.code) {
                         try {
                             var typeCode = "${item.iconId}"
@@ -110,6 +111,8 @@ class SignAdapter(private var listener: OnSignAdapterClickListener?) :
                     } else {
                         bd.signMainIconBg.setImageResource(item.iconId)
                     }
+                }else{
+                    bd.signMainIconBg.visibility = View.INVISIBLE
                 }
 
                 bd.signMainIcon.text = item.iconText
@@ -144,7 +147,7 @@ class SignAdapter(private var listener: OnSignAdapterClickListener?) :
                 val bd = holder.viewBinding
                 bd.signMoreIconsLayout.removeAllViews()
                 bd.signBottomText.text = item.name
-                bd.signBottomRightText.text = item.distance.toString()
+                bd.signBottomRightText.text = "${item.distance}米"
                 val list = SignUtil.getLineInfoIcons(item.renderEntity)
                 val lineViewS = View(context)
                 lineViewS.layoutParams = ViewGroup.LayoutParams(24, 80)
@@ -216,13 +219,13 @@ class SignAdapter(private var listener: OnSignAdapterClickListener?) :
         holder.tag = item.name + position
     }
 
-    override fun refreshData(newData: List<SignBean>) {
+//    override fun refreshData(newData: List<SignBean>) {
-        super.refreshData(newData)
+//        super.refreshData(newData)
-        for (i in newData.indices) {
+////    ?这是要干嘛    for (i in newData.indices) {
-            if (selectMoreInfoTag == newData[i].name + i) {
+////            if (selectMoreInfoTag == newData[i].name + i) {
-                return
+////                return
-            }
+////            }
-        }
+////        }
-    }
+//    }
 
 }

app/src/main/java/com/navinfo/omqs/ui/fragment/tasklist/TaskListAdapter.kt

@@ -152,6 +152,7 @@ class TaskListAdapter(
         if (taskBean.status == FileDownloadStatus.DONE) {
             binding.taskDownloadBtn.visibility = View.INVISIBLE
             binding.taskUploadBtn.visibility = View.VISIBLE
+
         } else {
             binding.taskDownloadBtn.visibility = View.VISIBLE
             binding.taskUploadBtn.visibility = View.INVISIBLE

app/src/main/java/com/navinfo/omqs/ui/fragment/tasklist/TaskListFragment.kt

@@ -7,6 +7,7 @@ import android.view.LayoutInflater
 import android.view.View
 import android.view.ViewGroup
 import android.widget.Toast
+import androidx.fragment.app.activityViewModels
 import androidx.recyclerview.widget.LinearLayoutManager
 import androidx.swiperefreshlayout.widget.SwipeRefreshLayout
 import com.navinfo.omqs.R
@@ -14,6 +15,8 @@ import com.navinfo.omqs.databinding.FragmentTaskListBinding
 import com.navinfo.omqs.http.taskdownload.TaskDownloadManager
 import com.navinfo.omqs.http.taskupload.TaskUploadManager
 import com.navinfo.omqs.tools.FileManager
+import com.navinfo.omqs.ui.activity.map.MainActivity
+import com.navinfo.omqs.ui.activity.map.MainViewModel
 import com.navinfo.omqs.ui.fragment.BaseFragment
 import com.navinfo.omqs.ui.other.shareViewModels
 import com.yanzhenjie.recyclerview.SwipeMenuCreator
@@ -58,9 +61,6 @@ class TaskListFragment : BaseFragment() {
                     Toast.makeText(context, "正在校验", Toast.LENGTH_SHORT).show()
                     viewModel.checkUploadTask(binding.root.context, taskBean)
                 }
-                else -> {
-
-                }
             }
         }
     }

app/src/main/java/com/navinfo/omqs/util/NaviEngine.kt

@@ -9,43 +9,70 @@ import com.navinfo.collect.library.map.NIMapController
 import com.navinfo.collect.library.utils.GeometryTools
 import com.navinfo.omqs.bean.NaviRoute
 import com.navinfo.omqs.bean.NaviRouteItem
+import com.navinfo.omqs.db.RealmOperateHelper
 import io.realm.Realm
-import io.realm.RealmQuery
 import org.locationtech.jts.geom.LineString
 import org.locationtech.jts.geom.Point
 import org.oscim.core.GeoPoint
 
 public interface OnNaviEngineCallbackListener {
-    fun planningPathSuccess()
+    fun planningPathStatus(code: NaviStatus)
-    fun planningPathError(errorCode: Int, errorMessage: String)
+
-    fun bindingResults(list: List<NaviRouteItem>)
+    //    fun planningPathError(errorCode: NaviStatus, errorMessage: String)
+    suspend fun bindingResults(route: NaviRoute?, list: List<NaviRouteItem>)
+}
+
+enum class NaviStatus {
+    NAVI_STATUS_PATH_PLANNING, //路径规划中
+    NAVI_STATUS_PATH_ERROR_NODE,//node点缺失
+    NAVI_STATUS_PATH_ERROR_DIRECTION,//缺少方向
+    NAVI_STATUS_PATH_ERROR_BLOCKED,//路径不通
+    NAVI_STATUS_PATH_SUCCESS,//路径规划成功
+    NAVI_STATUS_DISTANCE_OFF,//距离偏离
+    NAVI_STATUS_DIRECTION_OFF,//方向偏离
 }
 
 
-class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngineCallbackListener) {
+class NaviEngine(
+    private val niMapController: NIMapController,
+    private val realmOperateHelper: RealmOperateHelper,
+    val callback: OnNaviEngineCallbackListener
+) {
 
-
+    /**
-    private val QUERY_KEY_LIST = arrayOf(
+     * 要查询的要素列表
+     */
+    private val QUERY_KEY_ITEM_LIST = arrayOf(
+        DataCodeEnum.OMDB_ELECTRONICEYE.name,
         DataCodeEnum.OMDB_SPEEDLIMIT.name,
         DataCodeEnum.OMDB_SPEEDLIMIT_COND.name,
         DataCodeEnum.OMDB_SPEEDLIMIT_VAR.name,
         DataCodeEnum.OMDB_TRAFFICLIGHT.name,
-        DataCodeEnum.OMDB_RESTRICTION.name,
+//        DataCodeEnum.OMDB_RESTRICTION.name,
         DataCodeEnum.OMDB_LANEINFO.name,
         DataCodeEnum.OMDB_TRAFFIC_SIGN.name,
         DataCodeEnum.OMDB_WARNINGSIGN.name,
         DataCodeEnum.OMDB_TOLLGATE.name
     )
 
+    /**
+     * 要查询的link基本信息列表
+     */
+    private val QUERY_KEY_LINK_INFO_LIST = arrayOf(
+        DataCodeEnum.OMDB_RD_LINK.name,
+        DataCodeEnum.OMDB_LINK_DIRECT.name,
+        DataCodeEnum.OMDB_LINK_NAME.name,
+    )
+
     /**
      * 偏离距离 单位：米
      */
-    private val DEVIATION_DISTANCE = 150000
+    private val DEVIATION_DISTANCE = 15
 
     /**
      * 偏离次数上限
      */
-    private val DEVIATION_COUNT = 3
+    private val DEVIATION_COUNT = 5
 
     /**
      *  局部匹配时，走过的路段还记录100米
@@ -107,6 +134,7 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
      */
     var tempRoutList = mutableListOf<NaviRoute>()
 
+
     /**
      * 所有路段集合
      */
@@ -149,9 +177,9 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
      *  计算路径
      */
     suspend fun planningPath(taskBean: TaskBean) {
-
+        callback.planningPathStatus(NaviStatus.NAVI_STATUS_PATH_PLANNING)
         val pathList = mutableListOf<NaviRoute>()
-        val realm = Realm.getDefaultInstance()
+        val realm = realmOperateHelper.getSelectTaskRealmInstance()
         for (link in taskBean.hadLinkDvoList) {
             //测线不参与导航
             if (link.linkStatus == 3) {
@@ -162,37 +190,55 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
             )
 
             route.pointList = GeometryTools.getGeoPoints(link.geometry)
-            //查询每条link的snode，enode
-            val res1 = realm.where(RenderEntity::class.java)
-                .equalTo("table", DataCodeEnum.OMDB_RD_LINK.name).and()
-                .equalTo("properties['linkPid']", link.linkPid).findFirst()
-            res1?.let {
 
-                val snodePid = it.properties["snodePid"]
+            val res = realm.where(RenderEntity::class.java).`in`("table", QUERY_KEY_LINK_INFO_LIST)
-                if (snodePid != null) {
+                .equalTo("properties['linkPid']", link.linkPid).findAll()
-                    route.sNode = snodePid
+            var bHasNode = false
-                }
+            var bHasDir = false
-                val enodePid = it.properties["enodePid"]
+            var bHasName = false
-                if (enodePid != null) {
+            if (res != null) {
-                    route.eNode = enodePid
+                for (entity in res) {
+                    when (entity.code) {
+                        DataCodeEnum.OMDB_RD_LINK.code -> {
+                            bHasNode = true
+                            val snodePid = entity.properties["snodePid"]
+                            if (snodePid != null) {
+                                route.sNode = snodePid
+                            } else {
+                                bHasNode = false
+                            }
+                            val enodePid = entity.properties["enodePid"]
+                            if (enodePid != null) {
+                                route.eNode = enodePid
+                            } else {
+                                bHasNode = false
+                            }
+                        }
+                        DataCodeEnum.OMDB_LINK_DIRECT.code -> {
+                            val direct = entity.properties["direct"]
+                            if (direct != null) {
+                                bHasDir = true
+                                route.direct = direct.toInt()
+                            }
+                        }
+                        DataCodeEnum.OMDB_LINK_NAME.code -> {
+                            bHasName = true
+                            route.name = realm.copyFromRealm(entity)
+                        }
+                    }
                 }
             }
-            //查询每条link的方向
+            if (!bHasNode) {
-            val res2 = realm.where(RenderEntity::class.java)
+                callback.planningPathStatus(
-                .equalTo("table", DataCodeEnum.OMDB_LINK_DIRECT.name).and()
+                    NaviStatus.NAVI_STATUS_PATH_ERROR_NODE
-                .equalTo("properties['linkPid']", link.linkPid).findFirst()
+                )
-            res2?.let {
+                return
-                val direct = it.properties["direct"]
-                if (direct != null) {
-                    route.direct = direct.toInt()
-                }
             }
-            //查询每条link的名称
+            if (!bHasDir) {
-            val res3 = realm.where(RenderEntity::class.java)
+                callback.planningPathStatus(
-                .equalTo("table", DataCodeEnum.OMDB_LINK_NAME.name).and()
+                    NaviStatus.NAVI_STATUS_PATH_ERROR_DIRECTION
-                .equalTo("properties['linkPid']", link.linkPid).findFirst()
+                )
-            res3?.let {
+                return
-                route.name = "${it.properties["name"]}"
             }
             pathList.add(route)
         }
@@ -269,7 +315,9 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
                 } else {
                     if (!bHasLast && !bHasNext) {
                         bBreak = false
-                        callback.planningPathError(1, "路径不连通！")
+                        callback.planningPathStatus(
+                            NaviStatus.NAVI_STATUS_PATH_ERROR_BLOCKED
+                        )
                         realm.close()
                         return
                     }
@@ -279,83 +327,20 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
         val itemMap: MutableMap<GeoPoint, MutableList<RenderEntity>> = mutableMapOf()
         //查询每根link上的关联要素
         for (route in newRouteList) {
+            itemMap.clear()
             //常规点限速
-            var res = realm.where(RenderEntity::class.java)
+            val res = realm.where(RenderEntity::class.java)
                 .equalTo("properties['linkPid']", route.linkId).and().`in`(
                     "table",
-                    QUERY_KEY_LIST
+                    QUERY_KEY_ITEM_LIST
                 ).findAll()
-            if (res != null) {
+            if (res.isNotEmpty()) {
-                Log.e("jingo", "道路查询预警要素 ${route.linkId} ${res.size}条数据")
+//                Log.e("jingo", "道路查询预警要素 ${route.linkId} ${res.size}条数据")
                 for (r in res) {
-                    Log.e("jingo", "道路查询预警要素 ${r.name}")
+//                    Log.e("jingo", "道路查询预警要素 ${r.name}")
                     insertItemToRoute(realm, route, r, itemMap)
                 }
             }
-//            //条件点限速
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_SPEEDLIMIT_COND.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //可变点限速
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_SPEEDLIMIT_VAR.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //交通灯
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_TRAFFICLIGHT.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //普通交限
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_RESTRICTION.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //车信
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_LANEINFO.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //交通标牌
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_TRAFFIC_SIGN.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //警示信息
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_WARNINGSIGN.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
-//            //OMDB_TOLLGATE
-//            res = realm.where(RenderEntity::class.java)
-//                .equalTo("table", DataCodeEnum.OMDB_TOLLGATE.name).and()
-//                .equalTo("properties['linkPid']", route.linkId).findAll()
-//            if(res != null){
-//                for(r in res)
-//                    insertItemToRoute(realm, route, r, itemMap)
-//            }
             //对路径上的要素进行排序
             if (itemMap.isNotEmpty()) {
                 route.itemList = mutableListOf()
@@ -367,6 +352,7 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
                             val naviRouteItem = NaviRouteItem(i, item, route.linkId)
                             route.itemList!!.add(naviRouteItem)
                         }
+                        itemMap.remove(point)
                     }
                 }
                 route.itemList!!.sortBy { it.index }
@@ -374,8 +360,8 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
         }
         realm.close()
         routeList = newRouteList
-        callback.planningPathSuccess()
+        callback.planningPathStatus(NaviStatus.NAVI_STATUS_PATH_SUCCESS)
-        niMapController.lineHandler.showLine(geometry!!.toText())
+
     }
 
     /**
@@ -399,7 +385,8 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
                 val point = GeoPoint(
                     footAndDistance.getCoordinate(0).y, footAndDistance.getCoordinate(0).x
                 )
-                niMapController.markerHandle.addMarker(point, res.id, res.name)
+                //测试marker
+//                niMapController.markerHandle.addMarker(point, res.id, res.name)
                 route.pointList.add(footAndDistance.footIndex + 1, point)
                 if (itemMap.containsKey(point)) {
                     itemMap[point]!!.add(realm.copyFromRealm(res))
@@ -421,7 +408,7 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
     /**
      * 绑定道路
      */
-    fun bindingRoute(location: NiLocation?, point: GeoPoint) {
+    suspend fun bindingRoute(location: NiLocation?, point: GeoPoint) {
         if (geometry != null) {
             //还没有绑定到路径的时候
             if (routeIndex < 0) {
@@ -430,33 +417,31 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
                 //定位点到垂足距离不超过30米
                 if (pointPairDistance.getMeterDistance() < DEVIATION_DISTANCE) {
                     footIndex = pointPairDistance.footIndex
-                    Log.e(
+//                    Log.e(
-                        "jingo",
+//                        "jingo",
-                        "当前绑定到了整条路线的第 $footIndex 点 ${pointPairDistance.getMeterDistance()} "
+//                        "当前绑定到了整条路线的第 ${footIndex} 点 ${pointPairDistance.getMeterDistance()} "
-                    )
+//                    )
                     val lastRouteIndex = routeIndex
                     for (i in routeList.indices) {
                         val route = routeList[i]
                         if (route.startIndexInPath <= footIndex && route.endIndexIntPath >= footIndex) {
                             routeIndex = route.indexInPath
-                            Log.e(
+//                            Log.e(
-                                "jingo",
+//                                "jingo",
-                                "当前绑定到了整条路线id ${route.linkId} "
+//                                "当前绑定到了整条路线id ${route.linkId} "
-                            )
+//                            )
-                            niMapController.lineHandler.showLine(route.pointList)
+//                            niMapController.lineHandler.showLine(route.pointList)
                             footPoint = GeoPoint(
                                 pointPairDistance.getCoordinate(0).y,
                                 pointPairDistance.getCoordinate(0).x
                             )
-                            val listPoint = mutableListOf(point, footPoint!!)
+//                            val listPoint = mutableListOf(point, footPoint!!)
-                            niMapController.lineHandler.showLine(
+//                            niMapController.lineHandler.showLine(
-                                listPoint
+//                                listPoint
-                            )
+//                            )
-
                             if (lastRouteIndex != routeIndex) {
                                 createTempPath()
                             }
-                            matchingItem()
                             errorCount = 0
                             break
                         }
@@ -470,31 +455,30 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
                 //定位点到垂足距离不超过30米
                 if (pointPairDistance.getMeterDistance() < DEVIATION_DISTANCE) {
                     footIndex = pointPairDistance.footIndex + tempRoutList[0].startIndexInPath
-                    Log.e("jingo", "局部 当前绑定到了整条路线的第 $footIndex 点")
+//                    Log.e("jingo", "局部 当前绑定到了整条路线的第 $footIndex 点")
                     val lastRouteIndex = routeIndex
                     for (i in tempRoutList.indices) {
                         val route = tempRoutList[i]
                         if (route.startIndexInPath <= footIndex && route.endIndexIntPath >= footIndex) {
                             routeIndex = route.indexInPath
-                            Log.e(
+//                            Log.e(
-                                "jingo",
+//                                "jingo",
-                                "局部 当前绑定到了整条路线id ${route.linkId} "
+//                                "局部 当前绑定到了整条路线id ${route.linkId} "
-                            )
+//                            )
-                            niMapController.lineHandler.showLine(route.pointList)
+//                            niMapController.lineHandler.showLine(route.pointList)
                             footPoint = GeoPoint(
                                 pointPairDistance.getCoordinate(0).y,
                                 pointPairDistance.getCoordinate(0).x
                             )
 
-                            val listPoint = mutableListOf(point, footPoint!!)
+//                            val listPoint = mutableListOf(point, footPoint!!)
-                            niMapController.lineHandler.showLine(
+//                            niMapController.lineHandler.showLine(
-                                listPoint
+//                                listPoint
-                            )
+//                            )
-
+                            matchingItem()
                             if (lastRouteIndex != routeIndex) {
                                 createTempPath()
                             }
-                            matchingItem()
                             errorCount = 0
                             break
                         }
@@ -510,31 +494,43 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
      *  匹配要素
      *  @point:定位点
      */
-    private fun matchingItem() {
+    private suspend fun matchingItem() {
+
         if (routeIndex > -1 && tempRoutList.isNotEmpty() && tempGeometry != null) {
+            Log.e("jingo", "当前${routeIndex} ${tempRoutList[0].startIndexInPath} $footIndex")
             //道路前方一定距离范围内的要素信息
             val bindingItemList = mutableListOf<NaviRouteItem>()
-            //临时局部路径的游标对应整条路径的游标
-            val tempFootIndex = footIndex + tempRoutList[0].startIndexInPath
             //定位点到要素的路径距离
             var distance = 0.0
             //计算要素路径距离的点集合
             val disPoints = mutableListOf(footPoint!!)
             //下一个要素的起点游标
-            var tempIndex = footIndex + 1
+            var tempIndex = footIndex - tempRoutList[0].startIndexInPath + 1
-            for(route in tempRoutList) {
+            var currentRoute: NaviRoute? = null
-                if( route.indexInPath < routeIndex)
+            for (route in tempRoutList) {
+//                if (route.itemList != null) {
+//                    Log.e("jingo", "${route.linkId}我有${route.itemList!!.size}个要素 ")
+//                }
+                if (route.indexInPath < routeIndex)
                     continue
+                if (route.indexInPath == routeIndex) {
+                    currentRoute = route
+                }
                 if (route.itemList != null && route.itemList!!.isNotEmpty()) {
                     for (naviItem in route.itemList!!) {
-                        if (naviItem.index > tempFootIndex) {
+//                        Log.e(
+//                            "jingo",
+//                            "我是：${naviItem.data.name} 我的点位 ${naviItem.index} 垂足点位 $footIndex"
+//                        )
+                        if (naviItem.index > footIndex) {
                             val rightI = naviItem.index - tempRoutList[0].startIndexInPath + 1
                             for (i in tempIndex until rightI) {
                                 val geo = tempGeometry!!.coordinates[i]
                                 disPoints.add(GeoPoint(geo.y, geo.x))
                             }
-                            tempIndex = rightI
+                            tempIndex = rightI + 1
                             distance = GeometryTools.getDistance(disPoints)
+//                            Log.e("jingo", "我的距离${distance} 下一个${tempIndex} 位置${rightI}")
                             if (distance < FARTHEST_DISPLAY_DISTANCE && distance > -1) {
                                 naviItem.distance = distance.toInt()
                                 bindingItemList.add(naviItem)
@@ -543,12 +539,12 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
                             }
                         }
                     }
-                    if(distance >= FARTHEST_DISPLAY_DISTANCE){
+                    if (distance >= FARTHEST_DISPLAY_DISTANCE) {
                         break
                     }
                 }
             }
-            callback.bindingResults(bindingItemList)
+            callback.bindingResults(currentRoute, bindingItemList)
         }
     }
 
@@ -601,6 +597,7 @@ class NaviEngine(val niMapController: NIMapController, val callback: OnNaviEngin
     private fun deviationUp() {
         errorCount++
         if (errorCount >= DEVIATION_COUNT) {
+            callback.planningPathStatus(NaviStatus.NAVI_STATUS_DISTANCE_OFF)
             bindingReset()
         }
     }

vtm

@@ -1 +1 @@
-Subproject commit d31e10f1483d49ecec361b79497394c9b7983687
+Subproject commit 39b9993b1cc5257d11c872161812ffe890e44bd9