BMKWalkNavigationManager *manager = [BMKWalkNavigationManager sharedManager];
manager.walkNaviMode = BMK_WALK_NAVIGATION_MODE_WALK_NORMAL;
manager.enableMultiRoute = YES; // 设置是否支持多路线 since 6.5.4
manager.routePlanDelegate = self; // 设置多路线规划回调，支持关键字 since 6.5.4
manager.routeGuidanceDelegate = self; // 设置导航状态信息回调
manager.ttsPlayerDelegate = self; //设置语音播报回调
manager.managerDelegate = self; // 设置导航状态回调，如退出导航
manager.calcRouteDelegate = self; // 算路回调，只支持经纬度算路，区别于多路线规划回调 since 6.5.4
manager.locationAuthorizationDelegate = self;
// 启用后台位置指示器，进入后台时保留被授予的临时访问权限（精确位置）
[manager showsBackgroundLocationIndicator:YES];

//由开发者提供导航页面
WalkNaviViewController *controller = [[WalkNaviViewController alloc] init];
//初始化
BOOL inited = [[BMKWalkNavigationManager sharedManager] initNaviEngine:controller];
if (inited) {
    //初始化成功，发起算路...
}

BMKWalkNaviLaunchParam *param = [[BMKWalkNaviLaunchParam alloc] init];
    
BMKWalkNaviRouteNodeInfo *startNode = [[BMKWalkNaviRouteNodeInfo alloc] init];
startNode.location = _startAnnotation.coordinate; // 设置起点

BMKWalkNaviRouteNodeInfo *endNode = [[BMKWalkNaviRouteNodeInfo alloc] init];
endNode.location = _endAnnotation.coordinate; // 设置终点

param.startNode = startNode;
param.endNode = endNode;
// 设置算路方式
param.startNode.type = BMKWalkNavigationRouteNodeLocation;
param.endNode.type = BMKWalkNavigationRouteNodeLocation;
[[BMKWalkNavigationManager sharedManager] routePlanWithParams:param];

#pragma mark - BMKWalkCycleRoutePlanDelegate
/**
 开始算路
 */
- (void)onRoutePlanStart:(BMKWalkCycleNavigationType)naviType {
    NSLog(@"SDK-开始步行路线规划");
    
}

- (void)onRoutePlanResult:(BMKWalkCycleRoutePlanErrorCode)errorCode naviType:(BMKWalkCycleNavigationType)naviType{
    if (errorCode == BMK_WALK_CYCLE_ROUTEPLAN_RESULT_SUCCESS) {
        NSLog(@"SDK-算路成功");
        if (naviType == BMK_WALK_CYCLE_NAVIGATION_TYPE_WALK) {
            [self.mapView removeOverlays:self.mapView.overlays];
            
// 展示多路线
            _routePolylines = [[BMKWalkNavigationManager sharedManager] displayRoutePlanResult:_mapView];
            if (_routePolylines.count == 1) {
                
// 只有一条时直接使用该路线进行引擎算路，成功后进入导航页面
                [[BMKWalkNavigationManager sharedManager] naviCalcRoute:0];
            }
        }
    } else {
        NSLog(@"SDK-步行路线规划失败");
    }
}

/// 自定义多路线样式
- (BMKOverlayView*)mapView:(BMKMapView *)map viewForOverlay:(id<BMKOverlay>)overlay {
    /// 步行多路线polyline
    if ([overlay isKindOfClass:[BMKPolyline class]] && [BMKWalkNavigationManager sharedManager].enableMultiRoute) {
        BMKPolylineView* polylineView = [[BMKPolylineView alloc] initWithOverlay:overlay];
        polylineView.lineWidth = 10.0;
        
        if (_isFirstRoute) {
            _isFirstRoute = NO;
            polylineView.strokeColor = [[UIColor alloc] initWithRed:0 green:0 blue:1 alpha:0.7];
        } else {
            polylineView.strokeColor = [[UIColor alloc] initWithRed:0 green:0 blue:1 alpha:0.4];
        }
 
        [_routePolylineViews addObject:polylineView];
        return polylineView;
    }
    
    return nil;
}

/// 选路
- (void)mapView:(BMKMapView *)mapView onClickedBMKOverlayView:(BMKOverlayView *)overlayView {
    if ([overlayView isKindOfClass:[BMKPolylineView class]]) {
        BMKOverlayView *polylineView = (BMKOverlayView *)overlayView;
        NSInteger idx = [_routePolylines indexOfObject:polylineView.overlay];
        if (idx >= 0 && idx < _routePolylines.count) {
            
// 按照索引路线进行导航引擎算路，算路成功后进入导航
            [[BMKWalkNavigationManager sharedManager] naviCalcRoute:idx];

            for (int i = 0; i < _routePolylines.count; i++) {
                BMKPolylineView *polylineView = _routePolylineViews[i];
                if (idx == i) {
                    polylineView.strokeColor = [[UIColor alloc] initWithRed:0 green:0 blue:1 alpha:0.7];
                } else {
                    polylineView.strokeColor = [[UIColor alloc] initWithRed:0 green:0 blue:1 alpha:0.4];
                }
            }
        }
    }
    _routePolylines = nil;
    [_routePolylineViews removeAllObjects];
    [self.mapView removeOverlays:self.mapView.overlays];
}

#pragma mark - <BMKWalkNaviCalcRouteDelegate>
/// 引擎算路结果
- (void)onNaviCalcRouteResult:(BMKWalkCycleRoutePlanErrorCode)errorCode naviType:(BMKWalkCycleNavigationType)naviType {
    if (errorCode == BMK_WALK_CYCLE_ROUTEPLAN_RESULT_SUCCESS) {
        if (naviType == BMK_WALK_CYCLE_NAVIGATION_TYPE_WALK) {
            [[BMKWalkNavigationManager sharedManager] startWalkNaviWithParentController:self isPush:YES];
        } else {
            [[BMKCycleNavigationManager sharedManager] startCycleNaviWithParentController:self isPush:YES];
        }
    } else {
        NSLog(@"SDK-引擎算路失败 %zd", errorCode);
    }
}