[错误]：MabBox does not automatically plan a new path when navigating a wrong route

Mapbox Navigation SDK version

2.5.1

Steps to reproduce

Hello, I now use mapBox navigation SDK2.5.1 met weird bugs, starting for the first time in my APP, and began to navigation for the first time, if I go the wrong route, navigation will help me to switch to the new navigation route automatically, if I quit the current navigation, again start navigation, takes the wrong course, won't help me planning path automatically, No matter how many times I navigate, it won't help me automatically plan a new path, unless I kill the APP and go to the navigation again for the first time.

Here is my MapBox integration code

1. Gets the navigation address path:
   `func calculateRoute(_ options: NavigationRouteOptions) {
   guard let startPoint = self.startPoint, let endPoint = self.endPoint else{
   return
   }

    showNavRouteViewFont()
            
    _ = self.customRoutingProvider.calculateRoutes(options: options, completionHandler: { [weak self] (_, result) in
        guard let self = self else { return }
   
        switch result {
        case .failure(let error): // 路径获取失败
            DPrint(error.localizedDescription)
            self.view.tgc_makeToastTop(message: VHLLocalizedString("搜索不到线路"))
        case .success(let response): // 路径获取成功
            guard let routes = response.routes else {return}
            
            // 获取线路
            if routes.count > 0 {
                
                self.showNavRouteView()
                self.routeResponse = response
                self.routeOptions = options
                self.routes = routes
                self.mapView.show(routes)
                self.mapView.showWaypoints(on: (self.currentRoute) ?? routes[0])
                
                
                self.addViewAnnotation(at: startPoint, mapBoxNaviPointType: .start)
                self.addViewAnnotation(at: endPoint, mapBoxNaviPointType: .end)
                self.addPassPointAnnotion(coordinates: self.passPoints)
                
                self.routeModels = MapBoxToolEngine.routeItemConvert(routes: routes, selectRoute: (self.currentRoute) ?? routes[0])
                
                
                // 缩放到合适的大小
                var arr:[CLLocationCoordinate2D] = []
                arr.append(startPoint)
                if self.passPoints.count > 0 {
                    arr.append(contentsOf: self.passPoints)
                }
                arr.append(endPoint)
                
                let option = self.mapView.mapView.mapboxMap.camera(for: arr, padding: UIEdgeInsets(top: 200, left: 50, bottom: 200, right: 50), bearing: 0, pitch: 0)
                self.mapView.mapView.mapboxMap.setCamera(to: option)
            }else {
                // 没有线路
                self.hiddenNavRouteView()
            }
        }
    })`
   

customRoutingProvider implementation code inside:
`
import UIKit
import MapboxCoreNavigation
import MapboxDirections
import MapboxNavigation

class CustomProvider: RoutingProvider {
// This can encapsulate any route building engine we need. For simplicity let's use MapboxRoutingProvider.
// 这可以封装我们需要的任何路由构建引擎。为了简单起见，让我们使用' MapboxRoutingProvider '。
let routeCalculator = MapboxRoutingProvider()

// We can also modify the options used to calculate a route.
// 我们还可以修改用于计算路由的选项。
func applyOptionsModification(_ options: DirectionsOptions) {
    options.attributeOptions = [.congestionLevel, .speed, .maximumSpeedLimit, .expectedTravelTime]
}

// Here any manipulations on the reponse data can take place
// 在这里可以对响应数据进行任何操作
func applyMapMatchingModifications(_ response: MapMatchingResponse) {
    response.matches?.forEach { match in
        match.legs.forEach { leg in
            leg.incidents = fetchExternalIncidents(for: leg)
        }
    }
}

// Let's say we have an external source of incidents data, we want to apply to the route.
// 假设我们有一个事件数据的外部来源，我们想要应用到路线上。
func fetchExternalIncidents(for leg: RouteLeg) -> [Incident] {
    return [Incident(identifier: "\(leg.name) incident",
                     type: .otherNews,
                     description: "Custom Incident",
                     creationDate: Date(),
                     startDate: Date(),
                     endDate: Date().addingTimeInterval(60),
                     impact: nil,
                     subtype: nil,
                     subtypeDescription: nil,
                     alertCodes: [],
                     lanesBlocked: nil,
                     shapeIndexRange: 0..<1)]
}

func calculateRoutes(options: RouteOptions, completionHandler: @escaping Directions.RouteCompletionHandler) -> NavigationProviderRequest? {
    applyOptionsModification(options)
    
    // Using `MapboxRoutingProvider` also illustrates cases when we need to modify just a part of the route, or dynamically edit `RouteOptions` for each reroute.
    // 使用“MapboxRoutingProvider”还说明了当我们需要修改路由的一部分，或为每个重路由动态编辑“RouteOptions”的情况。
    return routeCalculator.calculateRoutes(options: options,
                                           completionHandler: completionHandler)
}

func calculateRoutes(options: MatchOptions, completionHandler: @escaping Directions.MatchCompletionHandler) -> NavigationProviderRequest? {
    applyOptionsModification(options)
    
    return routeCalculator.calculateRoutes(options: options,
                                           completionHandler: { [weak self] (session, result) in
        switch result {
        case .failure(let error):
            print(error.localizedDescription)
            completionHandler(session, result)
        case .success(let response):
            guard let strongSelf = self else {
                return
            }
            strongSelf.applyMapMatchingModifications(response)
            
            completionHandler(session, .success(response))
        }
    })
}

// Let's make our custom routing provider prevent route refreshes.
// 让我们的自定义路由提供程序防止路由刷新。
func refreshRoute(indexedRouteResponse: IndexedRouteResponse, fromLegAtIndex: UInt32, completionHandler: @escaping Directions.RouteCompletionHandler) -> NavigationProviderRequest? {
    
    var options: DirectionsOptions!
    switch indexedRouteResponse.routeResponse.options {
    case.match(let matchOptions):
        options = matchOptions
    case .route(let routeOptions):
        options = routeOptions
    }
    
    completionHandler((options, NavigationSettings.shared.directions.credentials),
                        .failure(.unableToRoute))
    return nil
}

}
`

2. Start to navigate:

`
func startNav(simulationMode: SimulationMode) {
guard let route = self.currentRoute, let routeOptions = self.routeOptions, let routeResponse = self.routeResponse else {
return
}
var routeIndex = 0
for (idx,temp) in routeModels.enumerated() {
if temp.selected == true {
routeIndex = idx
}
}

    NavigationSettings.shared.voiceMuted =  false
    NavigationSettings.shared.voiceVolume = TRMapPreferenceManager.share.getVoiceBroadcast() ? 1 : 0
    
    _ = self.customRoutingProvider.calculateRoutes(options: routeOptions, completionHandler: { [weak self] (_, result) in
        guard let self = self else { return }
        switch result {
        case .failure(let error):
            DPrint(error.localizedDescription)
            self.view.tgc_makeErrorToast(message: "路径开启失败")
        case .success(let response):
            
            let navigationService = MapboxNavigationService(routeResponse: response,
                                                            routeIndex: routeIndex,
                                                            routeOptions: routeOptions,
                                                            customRoutingProvider: self.customRoutingProvider,
                                                            credentials: NavigationSettings.shared.directions.credentials,
                                                            simulating: simulationMode)

          // 模拟导航3倍速度
            navigationService.simulationSpeedMultiplier = 3
            let navigationOptions = NavigationOptions(styles: [CustomDayStyle()], navigationService: navigationService, topBanner: TRCustomNavViewController(), bottomBanner: TRCustomBottomNavViewController())
            
            let navigationViewController = NavigationViewController(for: response,
                                                                        routeIndex: routeIndex,
                                                                        routeOptions: routeOptions,
                                                                        navigationOptions: navigationOptions)
            
            self.startNaviBlock!(self.startPointName, self.endPointName, navigationViewController)
            if self.selectedUnit == 2 {
                NavigationSettings.shared.distanceUnit = .mile
            } else {
                self.selectedUnit == 1 ? (NavigationSettings.shared.distanceUnit = .kilometer) : (NavigationSettings.shared.distanceUnit = Locale.current.measuresDistancesInMetricUnits ? .kilometer : .mile)
            }
            self.backAction()
        }
    })
}

`

3. The wrong path in the navigation does not automatically plan the route, and I print out that the proxy value has a value

We mainly to achieve in this class (StartNavigationController)
`
static func createStartNavigationController(mapNavController: NavigationViewController) -> StartNavigationController {
let nv = StartNavigationController()
nv.k_navigationViewController = mapNavController
return nv
}

override func viewDidLoad() {
super.viewDidLoad()
setupSubViews()
}

func setupSubViews() {
view.addSubview(naviControlView)
if let nav = self.k_navigationViewController {
self.naviControlView.addSubview(nav.view)
nav.delegate = self
nav.routeLineTracksTraversal = true
// 关闭意见反馈
nav.showsReportFeedback = false
// 到达最终目的地时，显示“End of route Feedback”界面
nav.showsEndOfRouteFeedback = false
// 在后台时，切换UILocalNotification的发送
nav.sendsNotifications = false
// 移动地图的回调
let navigationViewportDataSource = NavigationViewportDataSource(nav.navigationMapView!.mapView, viewportDataSourceType: .active)
navigationViewportDataSource.options.followingCameraOptions.zoomUpdatesAllowed = true
navigationViewportDataSource.options.followingCameraOptions.bearingSmoothing.maximumBearingSmoothingAngle = 30.0
navigationViewportDataSource.followingMobileCamera.zoom = 14.0
navigationViewportDataSource.options.followingCameraOptions.paddingUpdatesAllowed = true
nav.navigationMapView?.navigationCamera.viewportDataSource = navigationViewportDataSource

        let cameraStateTransition = TRCameraStateTransition(nav.navigationMapView!.mapView)
        nav.navigationMapView?.navigationCamera.cameraStateTransition = cameraStateTransition
        
        
        nav.navigationMapView?.mapView.gestures.delegate = self
        ResumeButton.appearance().alpha = 0.0
        if TRMapPreferenceManager.share.getVoiceBroadcast(){
            nav.voiceController.speechSynthesizer.volume = 1
        }else {
            nav.voiceController.speechSynthesizer.volume = 0
        }

        // 展示最高限速
        nav.showsSpeedLimits = true
        
        // 隐藏按钮
        FloatingButton.appearance().isHidden = true
        
        // 当前位置路口信息
        WayNameLabel.appearance().normalTextColor = UIColor.white
        WayNameView.appearance().backgroundColor = rgba(57, 118, 255, 1)
        
        // 到达当前时间
        ArrivalTimeLabel.appearance().textColor = colorTitle
        
        // 当前位置路口信息
        WayNameLabel.appearance().normalTextColor = UIColor.white
        WayNameView.appearance().backgroundColor = rgba(57, 118, 255, 1)
        WayNameView.appearance().alpha = 0
    }
    
    self.naviControlView.addSubview(self.maskButton)
    self.naviControlView.addSubview(self.moreButton)
    self.naviControlView.addSubview(self.quitButton)
    self.naviControlView.addSubview(self.overViewButton)
    
    self.naviControlView.addSubview(self.VoiceView)
    
    self.view.addSubview(self.maskAlertView)
    self.maskAlertView.addSubview(self.popAlertView)
    
    self.view.transform = CGAffineTransform(rotationAngle: CGFloat(Double.pi / 2))
}

`

The extension implementation

`extension StartNavigationController: NavigationViewControllerDelegate {

// 导航结束时调用
func navigationViewControllerDidDismiss(_ navigationViewController: NavigationViewController, byCanceling canceled: Bool) {
    delegate?.startNaviViewCloseButtonClicked()

    naviControlView.removeFromSuperview()
    self.volumeView?.removeFromSuperview()
    self.volumeView = nil
    self.k_navigationViewController?.delegate = nil
    self.k_navigationViewController?.navigationMapView?.mapView.removeFromSuperview()
    self.k_navigationViewController?.navigationOptions = nil
    self.k_navigationViewController?.view.removeFromSuperview()
    self.k_navigationViewController = nil
}

// 当用户移动更新路由进程模型时调用
func navigationViewController(_ navigationViewController: NavigationViewController, didUpdate progress: RouteProgress, with location: CLLocation, rawLocation: CLLocation) {

    self.view.tgc_makeToastTop(message: "当前代理:\(navigationViewController.delegate)")
    
    ///TODO: 以下代码为解决MapBoxSDK出现的模拟导航规划路线出现漂移现象，如若SDK解决可去掉此段代码

    let distanceRemaining = progress.currentLegProgress.currentStepProgress.distanceRemaining
    let distanceFormatter = DistanceFormatter()
    distanceFormatter.locale = Locale.init(identifier: VHLI18nManager.manager.language.isZH() ? "zh-Hans" : "en_US")
    // 下个点的距离
    let distance:CLLocationDistance = distanceRemaining > 5 ? distanceRemaining : 0
    DPrint("errorCountDistance:\(distance)")
    if distance == 0 {
        // 缩放到合适的大小
        errorCount += 1
        if errorCount < 3 {
            
        navigationViewController.navigationMapView?.navigationCamera.cameraStateTransition.update(to: CameraOptions(center: CLLocationCoordinate2D(latitude: rawLocation.coordinate.latitude, longitude: rawLocation.coordinate.longitude)), state: .transitionToOverview)
        }

    } else {
        errorCount = 0
    }
    ///TODO: 以下代码为解决MapBoxSDK出现的模拟导航规划路线出现漂移现象，如若SDK解决可去掉此段代码

    guard (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.maneuverType!.rawValue) != nil else {
        return
    }
    
    guard (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.maneuverDirection!.rawValue) != nil else {
        return
    }
    
    if !ScreenRecordTools.shared.isNavigating {
        ScreenRecordTools.shared.isNavigating = true
    }
}

// 当用户到达某个路线段的目的地航路点时调用。
// 这个方法在导航视图控制器到达路径点时被调用。你可以实现这个方法来防止导航视图控制器自动移动到下一个分支。例如，你可以在到达时显示一个插页，并通过返回' false '暂停导航，然后在用户取消该插页时继续该路径。如果这个方法没有实现，导航视图控制器在到达一个路径点时自动前进到下一段。
func navigationViewController(_ navigationViewController: NavigationViewController, didArriveAt waypoint: Waypoint) -> Bool {
    let isFinalLeg = navigationViewController.navigationService.routeProgress.isFinalLeg
    if isFinalLeg {
        DispatchQueue.main.asyncAfter(deadline: DispatchTime.now() + 1) {
            let navigationInfo = NavigationInfo()
            navigationInfo.iconType = 15
            navigationInfo.nextRoadName = NSLocalizedString("END_OF_ROUTE_ARRIVED", bundle: .mapboxNavigation, value:"You have arrived", comment:"Title used for arrival")
            navigationInfo.segmentRemainDistance = 0
            if T7LogicManager.shared.selectDevice_isWIFIConnect() {
                WiFiSendDataTool.shared.sendNaviInfoToCar(info: navigationInfo)
            }
            
            let selectedUnit = UserDefaults.standard.integer(forKey: UD_BK_Set_Unit)
            let remainDis = TRMapSearchViewModel.normalizedRemainDistance(remainDistance: navigationInfo.routeRemainDistance, selectunit: (selectedUnit == 2 || Locale.current.measuresDistancesInMetricUnits == false) ? 2 : 0)
        
            let routeRemainTime = TRMapSearchViewModel.normalizedRemainTime(remainTime: navigationInfo.routeRemainTime)
            let remainSegmentDis = TRMapSearchViewModel.normalizedRemainDistance(remainDistance: navigationInfo.segmentRemainDistance, selectunit: (selectedUnit == 2 || Locale.current.measuresDistancesInMetricUnits == false) ? 2 : 0)
            let arriveTime = TRMapSearchViewModel.caculateArriveDate(timeInterval: TimeInterval(navigationInfo.routeRemainTime))

            let startNavigationInfoEx = NavigationInfo()
            startNavigationInfoEx.iconType = navigationInfo.iconType
            startNavigationInfoEx.next_road = navigationInfo.nextRoadName
            
            if remainDis != nil {
                startNavigationInfoEx.cur_retain_distance = remainDis!.0
                startNavigationInfoEx.path_cur_unittype = remainDis!.1 == "公里" ? 1 : 0
            }
            
            if remainSegmentDis != nil {
                startNavigationInfoEx.path_retain_distance = remainSegmentDis!.0
                startNavigationInfoEx.cur_unittype = remainDis!.1 == "公里" ? 1 : 0
            }
            
            startNavigationInfoEx.remain_time = arriveTime.replacingOccurrences(of: "预计", with: "").replacingOccurrences(of: "到达", with: "")

            if routeRemainTime != nil {
                startNavigationInfoEx.cur_retain_time = routeRemainTime!
            }

            if let CV = T7LogicManager.shared.selectDevice?.CV,CV.count > 0{
                NavigationInfoTools.shared.sendNaviInfoToCarIconType(info: startNavigationInfoEx, turnImage: nil)
            }else{
                NavigationInfoTools.shared.sendNaviInfoToCar(info: navigationInfo, turnImage: nil)
            }
            
            self.naviControlView.removeFromSuperview()
            self.volumeView?.removeFromSuperview()
            self.volumeView = nil
            self.k_navigationViewController?.delegate = nil
            self.k_navigationViewController?.view.removeFromSuperview()
            self.k_navigationViewController = nil
            
            // 已经到达目的地
            self.delegate?.startNaviViewCloseButtonClicked()
        }
    }
    return true
}

// 当用户接近一个路径点时调用。
// 当用户接近一个路径点时，这个消息会在每次进度更新时发送一次。你可以用它来提示UI，进行网络预加载等等。
func navigationViewController(_ navigationViewController: NavigationViewController, willArriveAt waypoint: Waypoint, after remainingTimeInterval: TimeInterval, distance: CLLocationDistance) {
    
}

/**
 返回导航视图控制器是否应该被允许计算一个新的路由。"msg_source":2,"speed":-1,"max_speed":0,"msg_type":5,"msg_id":2
 
 如果实现了，这个方法会在导航视图控制器检测到用户离开预定的路径时被调用。实现此方法以有条件地防止重新路由。如果这个方法返回' true '， ' navigationViewController(_:willRerouteFrom:) '之后会立即被调用。
 */
func navigationViewController(_ navigationViewController: NavigationViewController, shouldRerouteFrom location: CLLocation) -> Bool{
          return true
}

/**
 在导航视图控制器计算新路由之前立即调用。
 
 这个方法在' navigationViewController(_: shouldroutefrom:) '被调用后被调用，同时调用' Notification.Name '。routeControllerWillReroute '通知被发布，并且在' navigationViewController(_: didroutealong:) '之前被调用。
 */
func navigationViewController(_ navigationViewController: NavigationViewController, willRerouteFrom location: CLLocation?){
    let alert = UIAlertView.init(title: "willRerouteFrom", message: "在导航视图控制器计算新路由之前立即调用", delegate: self, cancelButtonTitle: "确定")
    alert.show()
}

/**
 在导航视图控制器收到一个新路由后立即调用。
 
 这个方法在' navigationViewController(_:willRerouteFrom:) '之后被调用，并与' Notification.Name '同时调用。routeccontrollerdidreroute '通知被发布。
 */
func navigationViewController(_ navigationViewController: NavigationViewController, didRerouteAlong route: Route){
    let alert = UIAlertView.init(title: "didRerouteAlong", message: "在导航视图控制器收到一个新路由后立即调用", delegate: self, cancelButtonTitle: "确定")
    alert.show()
}

/**
 当导航视图控制器接收到新路由失败时调用。
 
 这个方法在' navigationViewController(_:willRerouteFrom:) '之后被调用，并与' Notification.Name '同时调用。routeControllerDidFailToReroute '通知被发布。
 */
func navigationViewController(_ navigationViewController: NavigationViewController, didFailToRerouteWith error: Error){
    self.view.tgc_makeErrorToast(message: "didFailToRerouteWith:从新规划路由失败")
}

/**
 在导航视图控制器刷新路由后立即调用。
 
 此方法与“Notification.Name”同时调用。routeccontrollerdidrefreshroute的通知正在被发布。
 */
func navigationViewController(_ navigationViewController: NavigationViewController, didRefresh routeProgress: RouteProgress){}

}`

Major in (TRCustomNavViewController) map navigation:

`class TRCustomNavViewController: ContainerViewController {

@IBOutlet weak var instructionsBannerView: UIView!

@IBOutlet weak var maneuverView: ManeuverView!

@IBOutlet weak var primaryLabel: UILabel!

@IBOutlet weak var distanceLabel: UILabel!

@IBOutlet weak var infoView: UIView!

@IBOutlet weak var laneView: LanesView!

@IBOutlet weak var junctionView: JunctionView!

@IBOutlet weak var infoViewBW: NSLayoutConstraint!

@IBOutlet weak var infoViewBtoTop: NSLayoutConstraint!

@IBOutlet weak var arriveDistence: UILabel!

@IBOutlet weak var arriveTime: UILabel!

@IBOutlet weak var margeToTop: NSLayoutConstraint!

@IBOutlet weak var infoViewW: NSLayoutConstraint!

@IBOutlet weak var laneViewW: NSLayoutConstraint!

@IBOutlet weak var laneViewH: NSLayoutConstraint!

@IBOutlet weak var laneViewLeft: NSLayoutConstraint!
@IBOutlet weak var infoViewToLeft: NSLayoutConstraint!

@IBOutlet weak var infoViewBToLeft: NSLayoutConstraint!

@IBOutlet weak var maneuverViewH: NSLayoutConstraint!

@IBOutlet weak var iconToLeft: NSLayoutConstraint!

@IBOutlet weak var junctionViewLeft: NSLayoutConstraint!
@IBOutlet weak var juctionConstWidth: NSLayoutConstraint!
@IBOutlet weak var juctionConstHeight: NSLayoutConstraint!


override func viewDidLoad() {
    super.viewDidLoad()

    
    instructionsBannerView.layer.cornerRadius = CGFloat(cornerValue)
    instructionsBannerView.layer.opacity = 1.0
    instructionsBannerView.backgroundColor = rgba(30, 37, 49, 1)
    
    infoView.layer.cornerRadius = CGFloat(cornerValue)
    infoView.layer.opacity = 1.0
    infoView.backgroundColor = UIColor.white
    
    infoView.layer.shadowColor = colorTitle?.withAlphaComponent(0.2).cgColor
    infoView.layer.shadowOpacity = 0.8
    infoView.layer.shadowRadius = 8
    infoView.layer.shadowOffset = CGSize(width: 1, height: 1)
    
    maneuverView.primaryColor = UIColor.white
    primaryLabel.textColor = UIColor.white
    laneView.layer.cornerRadius = CGFloat(cornerValue)
    junctionView.isHidden = true
    
    if let userDevice = T7LogicManager.shared.selectDevice {
        if userDevice.deviceType == .circlScreen { // 圆屏
            
            margeToTop.constant = KScreenW * 0.45
            
            infoViewW.constant = KScreenW * 0.42
            
            laneViewW.constant = KScreenW * 0.35
            
            infoViewBW.constant = KScreenW - KScreenW/3.6
            
            infoViewToLeft.constant = KScreenW/7.2 + KScreenH/4.1
            laneViewLeft.constant = KScreenW/7.2 + KScreenH/4.1
            infoViewBToLeft.constant = KScreenW/7.2 + KScreenH/4.1
            junctionViewLeft.constant = KScreenW/7.2 + KScreenH/4.1
            juctionConstWidth.constant =  90
            juctionConstHeight.constant = 90
            maneuverViewH.constant = 50
            iconToLeft.constant = 10
            laneViewH.constant = 55
            
            
        } else {
            margeToTop.constant = ScaleWidth(108)

            
            infoViewW.constant = KScreenW * 0.70
            laneViewW.constant = KScreenW * 0.70

            
            infoViewBW.constant = KScreenW * 0.70
            
            infoViewToLeft.constant = 60 + TopSafe
            infoViewBToLeft.constant = 60 + TopSafe
            laneViewLeft.constant = 60 + TopSafe
            junctionViewLeft.constant = 60 + TopSafe
            juctionConstWidth.constant =  ScaleWidth(260)
            juctionConstHeight.constant = isiPhoneX() ? ScaleWidth(180) : ScaleWidth(200)

            maneuverViewH.constant = ScaleWidth(75)
            laneViewH.constant = ScaleWidth(55)
            iconToLeft.constant = 20
        }
    } else {
        margeToTop.constant = ScaleWidth(108)
        
        infoViewW.constant = KScreenW * 0.65
        laneViewW.constant = KScreenW * 0.65

        
        infoViewBW.constant = KScreenW * 0.65
        
        infoViewToLeft.constant = 60 + TopSafe
        infoViewBToLeft.constant = 60 + TopSafe
        laneViewLeft.constant = 60 + TopSafe
        junctionViewLeft.constant = 60 + TopSafe

        maneuverViewH.constant = ScaleWidth(75)
        laneViewH.constant = ScaleWidth(55)
        juctionConstWidth.constant =  ScaleWidth(260)
        juctionConstHeight.constant = isiPhoneX() ? ScaleWidth(180) : ScaleWidth(200)
    }
}

// MARK: - Device rotation

override func viewWillTransition(to size: CGSize, with coordinator: UIViewControllerTransitionCoordinator) {
    super.viewWillTransition(to: size, with: coordinator)
    
}

open override func traitCollectionDidChange(_ previousTraitCollection: UITraitCollection?) {
    super.traitCollectionDidChange(previousTraitCollection)
    
}

// MARK: - NavigationServiceDelegate implementation
public func navigationService(_ service: NavigationService, didUpdate progress: RouteProgress, with location: CLLocation, rawLocation: CLLocation) {
    
    let distanceFormatter = DistanceFormatter()
    distanceFormatter.locale = Locale.init(identifier: VHLI18nManager.manager.language.isZH() ? "zh-Hans" : "en_US")
    
    // 下个点的距离
    let distanceRemaining = progress.currentLegProgress.currentStepProgress.distanceRemaining
    let distance:CLLocationDistance = distanceRemaining > 5 ? distanceRemaining : 0
    
    let emphasizedDistanceString = NSMutableAttributedString(attributedString: distanceFormatter.attributedString(for: distance)!)
    let nextCrossroads = distanceFormatter.string(from: distance)

    let wholeRange = NSRange(location: 0, length: emphasizedDistanceString.length)
    var hasQuantity = false
    emphasizedDistanceString.enumerateAttribute(.quantity, in: wholeRange, options: .longestEffectiveRangeNotRequired) { (value, range, stop) in
        let font: UIFont
        if let _ = emphasizedDistanceString.attribute(.quantity, at: range.location, effectiveRange: nil) {
            if let userDevice = T7LogicManager.shared.selectDevice {
                if userDevice.deviceType == .circlScreen { // 圆屏
                    font = UIFont.boldSystemFont(ofSize: 28)
                }else{
                    font = UIFont.boldSystemFont(ofSize: 42)
                }
            }else{
                font = UIFont.boldSystemFont(ofSize: 42)
            }
            hasQuantity = true
        } else {
            if let userDevice = T7LogicManager.shared.selectDevice {
                if userDevice.deviceType == .circlScreen { // 圆屏
                    font = UIFont.systemFont(ofSize: 14)
                }else{
                    font = UIFont.systemFont(ofSize: 17)
                }
            }else{
                font = UIFont.systemFont(ofSize: 17)
            }
        }
        emphasizedDistanceString.addAttributes([.font: font], range: range)
    }
    
    if !hasQuantity {
        if let userDevice = T7LogicManager.shared.selectDevice {
            if userDevice.deviceType == .circlScreen { // 圆屏
                emphasizedDistanceString.addAttributes([ .font: UIFont.boldSystemFont(ofSize: 28)], range: wholeRange)
            }else{
                emphasizedDistanceString.addAttributes([ .font: UIFont.boldSystemFont(ofSize: 42)], range: wholeRange)
            }
        }else{
            emphasizedDistanceString.addAttributes([ .font: UIFont.boldSystemFont(ofSize: 42)], range: wholeRange)
        }
    }
    
    emphasizedDistanceString.mutableString.replaceOccurrences(of: " ", with: "\u{200A}", options: [], range: wholeRange)
    distanceLabel.attributedText = emphasizedDistanceString
            
    guard let arrivalDate = NSCalendar.current.date(byAdding: .second, value: Int(progress.durationRemaining), to: Date()) else { return }
    
    // 到达时间
    let dateFormatter = DateFormatter()
    dateFormatter.timeStyle = .short
    dateFormatter.locale = Locale.init(identifier: VHLI18nManager.manager.language.isZH() ? "zh-Hans" : "en_US")
    arriveTime.text = "\(VHLLocalizedString("到达时间")) \(dateFormatter.string(from: arrivalDate))"
    
    // 剩余距离
    var distanceStr = VHLLocalizedString("剩余")
    let remainingDis = distanceFormatter.string(from: progress.distanceRemaining)
    let str = remainingDis.replacingOccurrences(of: "公里", with: "")
    if progress.durationRemaining < 5 {
        distanceStr = ""
    } else {
        distanceStr = distanceStr + " " + distanceFormatter.string(from: progress.distanceRemaining) + ", "
    }
    
    // 剩余时间
    let dateComponentsFormatter = DateComponentsFormatter()
    dateComponentsFormatter.calendar?.locale = Locale.init(identifier: VHLI18nManager.manager.language.isZH() ? "zh-Hans" : "en_US")
    dateComponentsFormatter.allowedUnits = [.hour, .minute]
    dateComponentsFormatter.unitsStyle = .abbreviated
    dateComponentsFormatter.unitsStyle = progress.durationRemaining < 3600 ? .short : .abbreviated
    
    if let hardcodedTime = dateComponentsFormatter.string(from: 61), progress.durationRemaining < 60 {
        distanceStr = distanceStr + String.localizedStringWithFormat(NSLocalizedString("LESS_THAN", bundle: .mapboxNavigation, value: "<%@", comment: "Format string for a short distance or time less than a minimum threshold; 1 = duration remaining"), hardcodedTime)
    } else {
        distanceStr = distanceStr + dateComponentsFormatter.string(from: progress.durationRemaining)!
    }
    
    arriveDistence.text = distanceStr
    
    let navigationInfo = NavigationInfo()
    navigationInfo.iconType =  MapBoxToolEngine.convertIconType(maneuverType: ManeuverType(rawValue: (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.maneuverType!.rawValue)!)!, maneuverDirection: ManeuverDirection(rawValue: (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.maneuverDirection)!.rawValue)!, drivingSide: DrivingSide(rawValue: (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.drivingSide)!.rawValue)!)
    navigationInfo.nextRoadName =  (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.text)!
    navigationInfo.routeRemainDistance = Int(progress.distanceRemaining)
    navigationInfo.segmentRemainDistance = Int((progress.currentLegProgress.currentStepProgress.distanceRemaining))
    navigationInfo.routeRemainTime = Int(progress.durationRemaining)

    let routeRemainTime = TRMapSearchViewModel.normalizedRemainTime(remainTime: navigationInfo.routeRemainTime)
    let arriveTime = TRMapSearchViewModel.caculateArriveDate(timeInterval: TimeInterval(navigationInfo.routeRemainTime))

    let startNavigationInfoEx = NavigationInfo()
    startNavigationInfoEx.iconType = navigationInfo.iconType
    startNavigationInfoEx.next_road = navigationInfo.nextRoadName
    startNavigationInfoEx.remain_time = arriveTime.replacingOccurrences(of: "预计", with: "").replacingOccurrences(of: "到达", with: "")
    
    let selectedUnit = UserDefaults.standard.integer(forKey: UD_BK_Set_Unit)

    if !remainingDis.isEmpty {
        var remainingDisStr = ""
        if selectedUnit == 2 {
            if VHLI18nManager.manager.language.isZH() {
                remainingDisStr = remainingDis.replacingOccurrences(of: "英里", with: "").replacingOccurrences(of: "英尺", with: "")
                startNavigationInfoEx.path_cur_unittype = remainingDis.contains("英里") ? 1 : 0
            } else {
                remainingDisStr = remainingDis.replacingOccurrences(of: "mi", with: "").replacingOccurrences(of: "ft", with: "")
                startNavigationInfoEx.path_cur_unittype = remainingDis.contains("mi") ? 1 : 0
            }
            startNavigationInfoEx.path_retain_distance = remainingDisStr
        } else {
            if VHLI18nManager.manager.language.isZH() {
                remainingDisStr = remainingDis.replacingOccurrences(of: "公里", with: "").replacingOccurrences(of: "米", with: "")
                startNavigationInfoEx.path_cur_unittype = remainingDis.contains("公里") ? 1 : 0
            } else {
                remainingDisStr = remainingDis.replacingOccurrences(of: "km", with: "").replacingOccurrences(of: "m", with: "")
                startNavigationInfoEx.path_cur_unittype = remainingDis.contains("km") ? 1 : 0
            }
            startNavigationInfoEx.path_retain_distance = remainingDisStr
        }
    }
    DPrint("终点距离:\(startNavigationInfoEx.cur_retain_distance)-终点单位：\(startNavigationInfoEx.cur_unittype)")

    
    if !nextCrossroads.isEmpty {
        var nextCrossroadsStr = nextCrossroads
        if selectedUnit == 2 {
            if VHLI18nManager.manager.language.isZH() {
                nextCrossroadsStr = nextCrossroads.replacingOccurrences(of: "英里", with: "").replacingOccurrences(of: "英尺", with: "")
                startNavigationInfoEx.cur_unittype = nextCrossroads.contains("英里") ? 1 : 0
            } else {
                nextCrossroadsStr = nextCrossroadsStr.replacingOccurrences(of: "mi", with: "").replacingOccurrences(of: "ft", with: "")
                startNavigationInfoEx.cur_unittype = nextCrossroads.contains("mi") ? 1 : 0
            }
        } else {
            if VHLI18nManager.manager.language.isZH() {
                nextCrossroadsStr = nextCrossroads.replacingOccurrences(of: "公里", with: "").replacingOccurrences(of: "米", with: "")
                startNavigationInfoEx.cur_unittype = nextCrossroads.contains("公里") ? 1 : 0
            } else {
                nextCrossroadsStr = nextCrossroadsStr.replacingOccurrences(of: "km", with: "").replacingOccurrences(of: "m", with: "")
                startNavigationInfoEx.cur_unittype = nextCrossroads.contains("km") ? 1 : 0
            }
        }
        startNavigationInfoEx.cur_retain_distance = nextCrossroadsStr
    }
    DPrint("下个点距离:\(startNavigationInfoEx.cur_retain_distance)-下个点单位：\(startNavigationInfoEx.cur_unittype)")
    
    if routeRemainTime != nil {
        startNavigationInfoEx.cur_retain_time = routeRemainTime!
    }

    if T7LogicManager.shared.selectDevice_isWIFIConnect() {
        WiFiSendDataTool.shared.sendNaviInfoToCar(info: navigationInfo)
    }
    if let CV = T7LogicManager.shared.selectDevice?.CV,CV.count > 0{
        NavigationInfoTools.shared.sendNaviInfoToCarIconType(info: startNavigationInfoEx, turnImage: nil)
    }else{
        NavigationInfoTools.shared.sendNaviInfoToCar(info: navigationInfo, turnImage: nil)
    }
}

public func navigationService(_ service: NavigationService, didPassVisualInstructionPoint instruction: VisualInstructionBanner, routeProgress: RouteProgress) {

    // 方向
    maneuverView.visualInstruction = instruction.primaryInstruction
    maneuverView.drivingSide = instruction.drivingSide
    primaryLabel.text = instruction.primaryInstruction.text
    
    ///路口放大图
    junctionView.update(for: instruction, service: service)
    
    // 车道信息
    let tertiaryInstructionTemp = instruction.tertiaryInstruction
    laneView.update(for: instruction, animated: true, duration: 10, completion: nil)
    //终端设备显示车道信息
    if tertiaryInstructionTemp != nil {
        let lanes = MapBoxToolEngine.convertLaneMsgType(instruction: instruction)
        if let CV = T7LogicManager.shared.selectDevice?.CV,CV.count > 0{
            NavigationInfoTools.shared.sendAbordLaneInfoIconType(lanearray: lanes)
            GCDTimer.dispatch_timer(timeInterval: 1, repeatCount: 10) {[weak self] timer, count in
                guard let self = self else { return }
                if count == 0 {
                    self.laneView.hide()
                    NavigationInfoTools.shared.sendHideAbordLaneInfo()
                }
            }
        }
    }
    
    let roadBigImage = junctionView.image
    if roadBigImage != nil {
        //显示路口放大图并且发送至终端设备
        junctionView.isHidden = false
        junctionView.show()
        instructionsBannerView.isHidden = true
        NavigationInfoTools.shared.sendCrossImage(image: roadBigImage)
        GCDTimer.dispatch_timer(timeInterval: 1, repeatCount: 5) {[weak self] timer, count in
            guard let self = self else { return }
            if count == 0 {
                self.junctionView.hide()
                self.instructionsBannerView.isHidden = false
                NavigationInfoTools.shared.sendCrossImage(image: nil)
            }
        }
    } else {
        junctionView.hide()
        instructionsBannerView.isHidden = false
        junctionView.isHidden = true
    }
}

public func navigationService(_ service: NavigationService, willRerouteFrom location: CLLocation) {
    laneView.hide()
    NavigationInfoTools.shared.hideLaneInfo()
}

public func navigationService(_ service: NavigationService, didRerouteAlong route: Route, at location: CLLocation?, proactive: Bool) {
    
    
}

}
`
These are all the steps we took to implement the navigation code.

Below is our test effect:

https://thinkerride.oss-cn-zhangjiakou.aliyuncs.com/10001/20221021/normal%20video.mp4

Temporary solution
Now that we have a temporary solution, we don't know how this solution will affect the performance of the map, and what unpredictability will be the problem, so let's explain the logic of the solution:

The main changes in (StartNavigationController)

1. We turned off the official navigation SDK's auto-correct path feature

func navigationViewController(_ navigationViewController: NavigationViewController, shouldRerouteFrom location: CLLocation) -> Bool { return false }

2. In the navigation process, we detect whether the user is in the current route. If not, we help the user to plan a new navigation route

` // 当用户移动更新路由进程模型时调用
func navigationViewController(_ navigationViewController: NavigationViewController, didUpdate progress: RouteProgress, with location: CLLocation, rawLocation: CLLocation) {

    ///TODO：关闭系统自动规划路径, 从新自动规划路径，防止SDK走错路不会规划路径
    ///TODO：Disable the system automatic path planning function to automatically plan a new path to prevent the SDK from failing to plan a path
    if !(navigationViewController.navigationService.router.userIsOnRoute(location)) {
        let routeOptions = NavigationRouteOptions(waypoints: [Waypoint(location: location), navigationViewController.routeOptions!.waypoints.last!])
    
        Directions.shared.calculate(routeOptions) { [weak self] (_, result) in
            switch result {
            case .failure(let error):
                DPrint(error.localizedDescription)
            case .success(let response):
                guard let self = self else { return }
                navigationViewController.navigationService.router.updateRoute(with: .init(routeResponse: response, routeIndex: 0), routeOptions: routeOptions, completion: { isFinsh in
                    if isFinsh == false {
                        ///从新规划路径失败提示用户，结束导航
                        let alert = UIAlertView.init(title: "路径切换失败", message: "您已走错路线，切换路线失败，请退出当前页面，从新开始导航", delegate: self, cancelButtonTitle: "确定")
                        alert.show()
                    }
                })
            }
        }
    }
    
    ///TODO: 以下代码为解决MapBoxSDK出现的模拟导航规划路线出现漂移现象，如若SDK解决可去掉此段代码
    let distanceRemaining = progress.currentLegProgress.currentStepProgress.distanceRemaining
    let distanceFormatter = DistanceFormatter()
    distanceFormatter.locale = Locale.init(identifier: VHLI18nManager.manager.language.isZH() ? "zh-Hans" : "en_US")
    // 下个点的距离
    let distance:CLLocationDistance = distanceRemaining > 5 ? distanceRemaining : 0
    DPrint("errorCountDistance:\(distance)")
    if distance == 0 {
        // 缩放到合适的大小
        errorCount += 1
        if errorCount < 3 {
        navigationViewController.navigationMapView?.navigationCamera.cameraStateTransition.update(to: CameraOptions(center: CLLocationCoordinate2D(latitude: rawLocation.coordinate.latitude, longitude: rawLocation.coordinate.longitude)), state: .transitionToOverview)
        }

    } else {
        errorCount = 0
    }
    ///TODO: 以上代码为解决MapBoxSDK出现的模拟导航规划路线出现漂移现象，如若SDK解决可去掉此段代码

    
    guard (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.maneuverType!.rawValue) != nil else {
        return
    }
    
    guard (progress.currentLegProgress.currentStep.instructionsDisplayedAlongStep?.first?.primaryInstruction.maneuverDirection!.rawValue) != nil else {
        return
    }
    
    if !ScreenRecordTools.shared.isNavigating {
        ScreenRecordTools.shared.isNavigating = true
    }
}`

I hope the official answer, thank you

Expected behavior

Expect the navigation to be normal, and automatically plan the latest route when you take a wrong route

Actual behavior

During the navigation, a wrong route is taken and a new navigation route cannot be planned

Is this a one-time issue or a repeatable issue?

repeatable

Start with StartNavigationController.setupSubViews and startNav, then trace how CustomProvider is passed into MapboxNavigationService and NavigationViewController. Reproduce the wrong-route behavior across two navigation sessions and inspect the rerouting path and provider callbacks. Done means a later navigation session automatically recalculates a route after leaving the planned path.