Merge remote-tracking branch 'origin/master'

.idea/gradle.xml

@@ -23,6 +23,7 @@
           </set>
         </option>
         <option name="resolveModulePerSourceSet" value="false" />
+        <option name="useQualifiedModuleNames" value="true" />
       </GradleProjectSettings>
     </option>
   </component>

foudations/mogo-socket/src/main/java/com/mogo/cloud/socket/SocketManager.java

@@ -26,6 +26,11 @@ import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 
+import static com.mogo.cloud.httpdns.MogoHttpDnsConfig.HTTP_DNS_ENV_DEMO;
+import static com.mogo.cloud.httpdns.MogoHttpDnsConfig.HTTP_DNS_ENV_DEV;
+import static com.mogo.cloud.httpdns.MogoHttpDnsConfig.HTTP_DNS_ENV_QA;
+import static com.mogo.cloud.httpdns.MogoHttpDnsConfig.HTTP_DNS_ENV_RELEASE;
+
 public class SocketManager implements IMogoCloudSocketManager, Callback {
 
     private static final String TAG = "SocketManager";
@@ -177,12 +182,12 @@ public class SocketManager implements IMogoCloudSocketManager, Callback {
 
     private Environment getEnvironment() {
         switch (cloudClientConfig.getNetMode()) {
-            case 1:
+            case HTTP_DNS_ENV_DEV:
                 return Environment.dev;
-            case 2:
+            case HTTP_DNS_ENV_QA:
-            case 4:
+            case HTTP_DNS_ENV_DEMO:
                 return Environment.qa;
-            case 3:
+            case HTTP_DNS_ENV_RELEASE:
             default:
                 return Environment.release;
         }

modules/mogo-realtime/build.gradle

@@ -25,6 +25,17 @@ android {
     }
 }
 
+allprojects {
+    repositories {
+        maven {
+            url 'http://nexus.zhidaoauto.com/repository/maven-releases/'
+        }
+        maven {
+            url 'http://nexus.zhidaoauto.com/repository/maven-public/'
+        }
+    }
+}
+
 dependencies {
     implementation fileTree(dir: "libs", include: ["*.jar"])
     implementation project(path: ':foudations:mogo-passport')
@@ -36,5 +47,7 @@ dependencies {
         implementation project(":foudations:mogo-socket")
         implementation project(":foudations:mogo-commons")
     }
+    implementation 'com.elegant.spi:api:1.0.9'  //运行时库
+    annotationProcessor 'com.elegant.spi:compiler:1.0.3'   //编译时库
 
 }

modules/mogo-realtime/src/main/java/com/mogo/realtime/Imp/RealTimeDelegateManager.java

@@ -0,0 +1,37 @@
+package com.mogo.realtime.Imp;
+
+
+import com.elegant.spi.AbstractDelegateManager;
+import com.mogo.cloud.passport.MoGoAiCloudClient;
+import com.mogo.realtime.Interface.RealTimeProvider;
+
+/**
+ * @author liujing
+ * @description 描述
+ * @since: 2021/1/25
+ */
+class RealTimeDelegateManager extends AbstractDelegateManager<RealTimeProvider> {
+    private static RealTimeDelegateManager sInstance = null;
+    private Class<? extends RealTimeProvider> mRealTimeProvider = null;
+
+    public static RealTimeDelegateManager getInstance() {
+        if (sInstance == null) {
+            synchronized (RealTimeDelegateManager.class) {
+                if (sInstance == null) {
+                    sInstance = new RealTimeDelegateManager();
+                }
+            }
+        }
+        return sInstance;
+    }
+
+    public RealTimeDelegateManager() {
+        loadDelegateClasses(MoGoAiCloudClient.getInstance().getContext(), RealTimeProvider.class, new DelegateListener<Class<? extends RealTimeProvider>>() {
+            @Override
+            public void onDelegate(String unit, Class<? extends RealTimeProvider> p) {
+                mRealTimeProvider = p;
+            }
+        });
+    }
+
+}

modules/mogo-realtime/src/main/java/com/mogo/realtime/constant/SnapshotUploadInTime.java

@@ -1,40 +1,21 @@
 package com.mogo.realtime.constant;
 
 import android.content.Context;
-import android.os.SystemClock;
-import android.util.Log;
 
-import com.mogo.cloud.passport.MoGoAiCloudClient;
-import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener;
-import com.mogo.cloud.socket.MsgBody;
-import com.mogo.cloud.socket.SocketManager;
-import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.realtime.entity.CloudLocationInfo;
-import com.mogo.cloud.socket.WebSocketData;
-import com.mogo.realtime.location.LocationResult;
 import com.mogo.realtime.location.MogoRTKLocation;
-import com.mogo.realtime.entity.OnePerSecondSendContent;
+import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
 import com.mogo.realtime.socket.SocketHandler;
-import com.mogo.realtime.util.MortonCode;
-import com.mogo.utils.network.utils.GsonUtil;
 
-import java.util.ArrayList;
 import java.util.List;
 
 /**
- * @author congtaowang
+ *
- * @since 2020/12/14
- * <p>
- * 实时上报坐标、识别物体
  */
 public class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener {
 
     private static final String TAG = "SnapshotUploadInTime";
-
     private static volatile SnapshotUploadInTime sInstance;
-    private Context mContext;
-    private long serverTime = 0;
-    private long receiveMsgTime = 0;
 
     private SnapshotUploadInTime() {
     }
@@ -54,13 +35,8 @@ public class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener
         sInstance = null;
     }
 
-    private Object readResolve() {
+    //todo 检查是否需要配置 默认开始定位上报
-        // 阻止反序列化，必须实现 Serializable 接口
+    public void start(Context context, boolean useInner, String appId, IMogoCloudOnMsgListener listener) {
-        return sInstance;
-    }
-
-    public void start(Context context, boolean useInner, String appId, IMogoCloudSocketOnMessageListener listener) {
-        mContext = context.getApplicationContext();
         MogoRTKLocation.getInstance().registerRTKLocationListener(this);
         SocketHandler.getInstance().initSocket(context, useInner, appId, listener);
     }
@@ -71,87 +47,7 @@ public class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener
 
     @Override
     public void onLocationChanged(List<CloudLocationInfo> cloudLocationInfos) {
-        startSendCarLocationAndAdasRecognizedResult2Server(cloudLocationInfos);
+        SocketHandler.getInstance().sendMsg(cloudLocationInfos);
     }
 
-    private CloudLocationInfo mLastInfo;
-
-    private void startSendCarLocationAndAdasRecognizedResult2Server(List<CloudLocationInfo> cloudLocationInfo) {
-        CloudLocationInfo lastInfo = null;
-        // 如果数组内容不为空，就用数组最后一个值
-        if (!cloudLocationInfo.isEmpty()) {
-            lastInfo = cloudLocationInfo.get(cloudLocationInfo.size() - 1);
-            mLastInfo = lastInfo;
-        }
-        if (lastInfo == null) {
-            lastInfo = mLastInfo;
-        }
-        LocationResult locationResult = null;
-        if (lastInfo != null) {
-            // 定位点预测纠偏
-            lastInfo = SimpleLocationCorrectStrategy.getInstance().correct(lastInfo);
-            locationResult = new LocationResult();
-            if (lastInfo != null) {
-                locationResult.lastCoordinate = lastInfo;
-                locationResult.mortonCode = MortonCode.wrapEncodeMorton(lastInfo.getLon(), lastInfo.getLat());
-            }
-            locationResult.coordinates = new ArrayList<>();
-            locationResult.sn = MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getSn();
-            locationResult.coordinates.addAll(cloudLocationInfo);
-        }
-        List<ADASRecognizedResult> recognizedResults = SocketHandler.getInstance().getRealTimeProvider().getLastADASRecognizedResult();//外显接口返回
-        OnePerSecondSendContent content = new OnePerSecondSendContent();
-        content.self = locationResult;
-        content.adas = recognizedResults;
-
-        if (content.self == null &&
-                (content.adas == null || content.adas.isEmpty())) {
-            Log.d(TAG, "no information 2 sent");
-            return;
-        }
-        //发送socket msg
-        WebSocketData webSocketData = new WebSocketData();
-        webSocketData.setSeq(computeSendMsgTime());
-        webSocketData.setSn(MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getSn());
-        webSocketData.setData(GsonUtil.jsonFromObject(content));
-//        MogoLocation lastKnown = MogoApisHandler.getInstance().getApis().getMapServiceApi()
-//                .getSingletonLocationClient(mContext)
-//                .getLastKnowLocation();
-//        if (lastKnown != null && !lastKnown.getCityCode().isEmpty()) {
-//            webSocketData.setCityCode(lastKnown.getCityCode());
-//        } else {
-//            webSocketData.setCityCode(null);
-//        }
-        String msg = GsonUtil.jsonFromObject(webSocketData);
-
-        int msgType = 0x040003; //低频数据
-        if (cloudLocationInfo.size() > 2) {
-            msgType = 0x040002; //高频数据
-        }
-        MsgBody msgBody = new MsgBody();
-        msgBody.msgType(msgType);
-        msgBody.content(msg);
-        SocketManager.getInstance().sendMsg(msgBody, msgId -> {
-
-        });
-
-    }
-
-    /**
-     * 服务端会在ack数据中增加服务端的时间戳{@link #serverTime}, 收到消息时，记录收到消息的时间{@link #receiveMsgTime}，收消息的时间用{@link SystemClock#elapsedRealtime()}可以避免系统时间改变造成的影响
-     * 在发送数据时，使用serverTime+(elapseRealtime()-receiveMsgTime)计算发送数据时的时间戳，这个时间戳是基本相对服务端的时间戳为基准的时间，忽略了ack下发时的时间延迟
-     * <p>
-     * 如果{@link #serverTime}或{@link #receiveMsgTime}数据有异常，则使用{@link System#currentTimeMillis()}当做当前时间，作为容错
-     *
-     * @return 基本相对服务端的时间戳为基准的时间
-     */
-    private long computeSendMsgTime() {
-        long sendMsgTime;
-        if (serverTime > 0 && receiveMsgTime > 0) {
-            sendMsgTime = serverTime + (SystemClock.elapsedRealtime() - receiveMsgTime);
-        } else {
-            sendMsgTime = System.currentTimeMillis();
-        }
-        return sendMsgTime;
-    }
 }

modules/mogo-realtime/src/main/java/com/mogo/realtime/entity/CloudRoadData.java

@@ -0,0 +1,240 @@
+package com.mogo.realtime.entity;
+
+import android.os.Parcel;
+import android.os.Parcelable;
+import android.text.TextUtils;
+
+import java.util.List;
+
+/**
+ * 云端道路数据
+ *
+ * @author tongchenfei
+ */
+public class CloudRoadData implements Parcelable {
+
+    public static final int FROM_MY_LOCATION = 1;
+    public static final int FROM_ADAS = 2;
+    public static final int FROM_ROAD_UNIT = 3;
+
+    /**
+     * 物体类型
+     */
+    private int type = -1;
+
+    private int fromType;
+
+    private double lat;
+    private double lon;
+
+    private String uuid;
+    private String sn;
+
+    private double speed;
+    private double heading;
+
+    private long systemTime;
+
+    /**
+     * 红绿灯状态 1红 2绿 3黄
+     */
+    private int lightStatus;//
+    /**
+     * 红绿灯剩余时间 读秒
+     */
+    private int lightLeftTime;
+    /**
+     * 视频流直播地址
+     */
+    private String rtmpUrl;//
+
+    private double distance;//距离
+
+    private List< CloudLocationInfo > coordinates;
+
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType( int type ) {
+        this.type = type;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat( double lat ) {
+        this.lat = lat;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon( double lon ) {
+        this.lon = lon;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed( double speed ) {
+        this.speed = speed;
+    }
+
+    public long getSystemTime() {
+        return systemTime;
+    }
+
+    public void setSystemTime( long systemTime ) {
+        this.systemTime = systemTime;
+    }
+
+    public int getLightStatus() {
+        return lightStatus;
+    }
+
+    public void setLightStatus( int lightStatus ) {
+        this.lightStatus = lightStatus;
+    }
+
+    public int getLightLeftTime() {
+        return lightLeftTime;
+    }
+
+    public void setLightLeftTime( int lightLeftTime ) {
+        this.lightLeftTime = lightLeftTime;
+    }
+
+    public String getRtmpUrl() {
+        return rtmpUrl;
+    }
+
+    public void setRtmpUrl( String rtmpUrl ) {
+        this.rtmpUrl = rtmpUrl;
+    }
+
+    public double getDistance() {
+        return distance * 1000;
+    }
+
+    public void setDistance( double distance ) {
+        this.distance = distance;
+    }
+
+    public List< CloudLocationInfo > getCoordinates() {
+        return coordinates;
+    }
+
+    public void setCoordinates( List< CloudLocationInfo > coordinates ) {
+        this.coordinates = coordinates;
+    }
+
+    public void setUuid( String uuid ) {
+        this.uuid = uuid;
+    }
+
+    public String getUuid() {
+        return uuid;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public double getHeading() {
+        return heading;
+    }
+
+    public void setHeading( double heading ) {
+        this.heading = heading;
+    }
+
+    public String getUniqueKey() {
+        if ( !TextUtils.isEmpty( uuid ) ) {
+            return uuid;
+        }
+        return sn;
+    }
+
+    public int getFromType() {
+        return fromType;
+    }
+
+    public void setFromType( int fromType ) {
+        this.fromType = fromType;
+    }
+
+    public CloudRoadData() {
+    }
+
+    @Override
+    public int describeContents() {
+        return 0;
+    }
+
+    @Override
+    public void writeToParcel( Parcel dest, int flags ) {
+        dest.writeInt( this.type );
+        dest.writeInt( this.fromType );
+        dest.writeDouble( this.lat );
+        dest.writeDouble( this.lon );
+        dest.writeString( this.uuid );
+        dest.writeString( this.sn );
+        dest.writeDouble( this.speed );
+        dest.writeDouble( this.heading );
+        dest.writeLong( this.systemTime );
+        dest.writeInt( this.lightStatus );
+        dest.writeInt( this.lightLeftTime );
+        dest.writeString( this.rtmpUrl );
+        dest.writeDouble( this.distance );
+        dest.writeTypedList( this.coordinates );
+    }
+
+    protected CloudRoadData(Parcel in ) {
+        this.type = in.readInt();
+        this.fromType = in.readInt();
+        this.lat = in.readDouble();
+        this.lon = in.readDouble();
+        this.uuid = in.readString();
+        this.sn = in.readString();
+        this.speed = in.readDouble();
+        this.heading = in.readDouble();
+        this.systemTime = in.readLong();
+        this.lightStatus = in.readInt();
+        this.lightLeftTime = in.readInt();
+        this.rtmpUrl = in.readString();
+        this.distance = in.readDouble();
+        this.coordinates = in.createTypedArrayList( CloudLocationInfo.CREATOR );
+    }
+
+    public static final Creator<CloudRoadData> CREATOR = new Creator<CloudRoadData>() {
+        @Override
+        public CloudRoadData createFromParcel(Parcel source ) {
+            return new CloudRoadData( source );
+        }
+
+        @Override
+        public CloudRoadData[] newArray(int size ) {
+            return new CloudRoadData[size];
+        }
+    };
+
+    @Override
+    public boolean equals( Object o ) {
+        if ( this == o ) {
+            return true;
+        }
+        if ( o == null || getClass() != o.getClass() ) {
+            return false;
+        }
+        CloudRoadData that = (CloudRoadData) o;
+        return Double.compare( that.lat, lat ) == 0 &&
+                Double.compare( that.lon, lon ) == 0;
+    }
+
+
+}

modules/mogo-realtime/src/main/java/com/mogo/realtime/entity/MogoSnapshotSetData.java

@@ -0,0 +1,151 @@
+package com.mogo.realtime.entity;
+
+import android.os.Parcel;
+import android.os.Parcelable;
+
+import java.util.List;
+
+public
+/*
+ * @author congtaowang
+ * @since 2020/10/26
+ *
+ * 描述
+ */
+class MogoSnapshotSetData implements Parcelable {
+
+    private String msgId;
+
+    private long time;
+
+    //过期时间
+    private long expire;
+
+    //总数据集合
+    private List<CloudRoadData> allList;
+
+    // 近景adas数据
+    private List<CloudRoadData> nearList;
+
+    //红绿灯
+    private CloudRoadData trafficLight;
+
+    //路边摄像头
+    private CloudRoadData camera;
+
+    // 自车速度 本地添加
+    public double curSpeed = 0.0;
+
+
+    @Override
+    public String toString() {
+        return "MogoSnapshotSetData{" +
+                "msgId='" + msgId + '\'' +
+                ", time=" + time +
+                ", expire=" + expire +
+                ", allList=" + allList +
+                ", nearList=" + nearList +
+                ", camera=" + camera +
+                ", curSpeed=" + curSpeed +
+                '}';
+    }
+
+    public String getMsgId() {
+        return msgId;
+    }
+
+    public void setMsgId(String msgId) {
+        this.msgId = msgId;
+    }
+
+    public long getTime() {
+        return time;
+    }
+
+    public void setTime(long time) {
+        this.time = time;
+    }
+
+    public long getExpire() {
+        return expire;
+    }
+
+    public void setExpire(long expire) {
+        this.expire = expire;
+    }
+
+    public List<CloudRoadData> getAllList() {
+        return allList;
+    }
+
+    public void setAllList(List<CloudRoadData> allList) {
+        this.allList = allList;
+    }
+
+    public CloudRoadData getTrafficLight() {
+        return trafficLight;
+    }
+
+    public void setTrafficLight(CloudRoadData trafficLight) {
+        this.trafficLight = trafficLight;
+    }
+
+    public CloudRoadData getCamera() {
+        return camera;
+    }
+
+    public void setCamera(CloudRoadData camera) {
+        this.camera = camera;
+    }
+
+    public List< CloudRoadData > getNearList() {
+        return nearList;
+    }
+
+    public void setNearList( List< CloudRoadData > nearList ) {
+        this.nearList = nearList;
+    }
+
+    public MogoSnapshotSetData() {
+    }
+
+    @Override
+    public int describeContents() {
+        return 0;
+    }
+
+    @Override
+    public void writeToParcel( Parcel dest, int flags ) {
+        dest.writeString( this.msgId );
+        dest.writeLong( this.time );
+        dest.writeLong( this.expire );
+        dest.writeTypedList( this.allList );
+        dest.writeTypedList( this.nearList );
+        dest.writeParcelable( this.trafficLight, flags );
+        dest.writeParcelable( this.camera, flags );
+        dest.writeDouble( this.curSpeed );
+    }
+
+    protected MogoSnapshotSetData(Parcel in ) {
+        this.msgId = in.readString();
+        this.time = in.readLong();
+        this.expire = in.readLong();
+        this.allList = in.createTypedArrayList( CloudRoadData.CREATOR );
+        this.nearList = in.createTypedArrayList( CloudRoadData.CREATOR );
+        this.trafficLight = in.readParcelable( CloudRoadData.class.getClassLoader() );
+        this.camera = in.readParcelable( CloudRoadData.class.getClassLoader() );
+        this.curSpeed = in.readDouble();
+    }
+
+    public static final Creator<MogoSnapshotSetData> CREATOR = new Creator<MogoSnapshotSetData>() {
+        @Override
+        public MogoSnapshotSetData createFromParcel(Parcel source ) {
+            return new MogoSnapshotSetData( source );
+        }
+
+        @Override
+        public MogoSnapshotSetData[] newArray(int size ) {
+            return new MogoSnapshotSetData[size];
+        }
+    };
+}

modules/mogo-realtime/src/main/java/com/mogo/realtime/entity/OnePerSecondSendContent.java

@@ -1,8 +1,6 @@
 package com.mogo.realtime.entity;
 
 
-import com.mogo.realtime.location.LocationResult;
-
 import java.util.List;
 
 public

modules/mogo-realtime/src/main/java/com/mogo/realtime/location/LocationResult.java

@@ -1,35 +0,0 @@
-package com.mogo.realtime.location;
-
-import com.mogo.realtime.entity.CloudLocationInfo;
-
-import java.util.List;
-
-public
-/**
- * @author congtaowang
- * @since 2020/10/25
- *
- * 自车定位信息
- */
-class LocationResult {
-
-    /**
-     * sn
-     */
-    public String sn;
-
-    /**
-     * 最后一个定位点的莫顿码
-     */
-    public long mortonCode;
-
-    /**
-     * 最后一个定位点
-     */
-    public CloudLocationInfo lastCoordinate;
-
-    /**
-     * 1s 内的连续定位点
-     */
-    public List< CloudLocationInfo > coordinates;
-}

modules/mogo-realtime/src/main/java/com/mogo/realtime/location/MogoRTKLocation.java

@@ -46,8 +46,6 @@ public class MogoRTKLocation {
                 if (msg.what == MSG_DATA_CHANGED) {
                     mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, uploadDelay);
                     sendLocationData();
-
-//                    Logger.d(TAG,"handleMessage开始发送消息");
                 }
             }
         };

modules/mogo-realtime/src/main/java/com/mogo/realtime/socket/IMogoCloudOnMsgListener.java

@@ -0,0 +1,8 @@
+package com.mogo.realtime.socket;
+
+import com.mogo.realtime.entity.MogoSnapshotSetData;
+
+public interface IMogoCloudOnMsgListener {
+
+    void onMsgReceived(MogoSnapshotSetData mogoSnapshotSetData);
+}

modules/mogo-realtime/src/main/java/com/mogo/realtime/socket/SocketHandler.java

@@ -2,28 +2,41 @@ package com.mogo.realtime.socket;
 
 import android.content.Context;
 import android.os.SystemClock;
+import android.util.Log;
 
+import com.mogo.cloud.passport.MoGoAiCloudClient;
 import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener;
+import com.mogo.cloud.socket.MsgBody;
 import com.mogo.cloud.socket.SocketManager;
 import com.mogo.cloud.socket.WebSocketData;
-import com.mogo.realtime.Interface.RealTimeProvider;
+import com.mogo.realtime.constant.SimpleLocationCorrectStrategy;
+import com.mogo.realtime.entity.ADASRecognizedResult;
+import com.mogo.realtime.entity.CloudLocationInfo;
+import com.mogo.realtime.entity.LocationResult;
+import com.mogo.realtime.entity.MogoSnapshotSetData;
+import com.mogo.realtime.entity.OnePerSecondSendContent;
+import com.mogo.realtime.util.MortonCode;
 import com.mogo.utils.network.utils.GsonUtil;
 
+import java.util.ArrayList;
 import java.util.List;
 
 import static com.mogo.cloud.socket.WebSocketMsgType.MSG_TYPE_ACK;
+import static com.mogo.cloud.socket.WebSocketMsgType.MSG_TYPE_DOWNLINK_CAR_DATA;
+import static com.mogo.cloud.socket.WebSocketMsgType.MSG_TYPE_UPLINK_CAR_DATA;
 
 /**
- * @author liujing
+ *
- * @description 描述
- * @since: 2021/1/22
  */
 public class SocketHandler {
+
+    private static final String TAG = "SocketHandler";
     private static volatile SocketHandler mInstance;
+
     private long serverTime = 0;
     private long receiveMsgTime = 0;
-    private List<IMogoCloudSocketOnMessageListener> listenerList;
+    private CloudLocationInfo mLastInfo;
-    public RealTimeProvider realTimeProvider;
+    private final List<IMogoCloudOnMsgListener> listenerList = new ArrayList<>();
 
     public static SocketHandler getInstance() {
         if (mInstance == null) {
@@ -36,34 +49,26 @@ public class SocketHandler {
         return mInstance;
     }
 
-    public RealTimeProvider getRealTimeProvider() {
-        return realTimeProvider;
-    }
-
     /*
      * useInner: 是否注册自己内部的监听
      * */
-    public void initSocket(Context context, boolean useInner, String appId, IMogoCloudSocketOnMessageListener listener) {
+    public void initSocket(Context context, boolean useInner, String appId, IMogoCloudOnMsgListener listener) {
         SocketManager.getInstance().init(context, appId);
-        if (useInner) {
+        SocketManager.getInstance().registerOnMessageListener(0x040002, onMessageListener);
-            SocketManager.getInstance().registerOnMessageListener(0x040002, onMessageListener);
+        SocketManager.getInstance().registerOnMessageListener(0x040003, onMessageListener);
-            SocketManager.getInstance().registerOnMessageListener(0x040003, onMessageListener);
+        if (listener != null && !listenerList.contains(listener)) {
-        } else {
-            SocketManager.getInstance().registerOnMessageListener(0x040002, listener);
-            SocketManager.getInstance().registerOnMessageListener(0x040003, listener);
             listenerList.add(listener);
         }
     }
 
-    private final IMogoCloudSocketOnMessageListener<String> onMessageListener = new IMogoCloudSocketOnMessageListener<String>() {
+    private final IMogoCloudSocketOnMessageListener<WebSocketData> onMessageListener = new IMogoCloudSocketOnMessageListener<WebSocketData>() {
         @Override
-        public Class<String> target() {
+        public Class<WebSocketData> target() {
-            return String.class;
+            return WebSocketData.class;
         }
 
         @Override
-        public void onMsgReceived(String message) {
+        public void onMsgReceived(WebSocketData webSocketData) {
-            WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
             int msgType = webSocketData.getMsgType();
             if (msgType == MSG_TYPE_ACK.getMsgType()) {
                 if (webSocketData.getUtcTime() > 0) {
@@ -76,17 +81,94 @@ public class SocketHandler {
                     }
                 }
             }
+            if (msgType == MSG_TYPE_DOWNLINK_CAR_DATA.getMsgType()) {
+                MogoSnapshotSetData data = GsonUtil.objectFromJson(webSocketData.getData(), MogoSnapshotSetData.class);
+                if (data == null) {
+                    Log.e(TAG, "onMsgReceived  MogoSnapshotSetData == null ");
+                    return;
+                }
+                for (IMogoCloudOnMsgListener listener : listenerList) {
+                    listener.onMsgReceived(data);
+                }
+            }
         }
     };
 
-    public void stop() {
+    public void sendMsg(List<CloudLocationInfo> cloudLocationInfo) {
-        //todo
+        CloudLocationInfo lastInfo = null;
-//        MogoRTKLocation.getInstance().unregisterRTKLocationListener();
+        // 如果数组内容不为空，就用数组最后一个值
-//        MogoRTKLocation.getInstance().stop();
+        if (!cloudLocationInfo.isEmpty()) {
-        for (int i = 0; i < listenerList.size(); i++) {
+            lastInfo = cloudLocationInfo.get(cloudLocationInfo.size() - 1);
-            SocketManager.getInstance().unregisterOnMessageListener(0x040002, listenerList.get(i));
+            mLastInfo = lastInfo;
-            SocketManager.getInstance().unregisterOnMessageListener(0x040003, listenerList.get(i));
         }
+        if (lastInfo == null) {
+            lastInfo = mLastInfo;
+        }
+        LocationResult locationResult = null;
+        if (lastInfo != null) {
+            // 定位点预测纠偏
+            lastInfo = SimpleLocationCorrectStrategy.getInstance().correct(lastInfo);
+            locationResult = new LocationResult();
+            if (lastInfo != null) {
+                locationResult.lastCoordinate = lastInfo;
+                locationResult.mortonCode = MortonCode.wrapEncodeMorton(lastInfo.getLon(), lastInfo.getLat());
+            }
+            locationResult.coordinates = new ArrayList<>();
+            locationResult.sn = MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getSn();
+            locationResult.coordinates.addAll(cloudLocationInfo);
+        }
+        //todo 改造
+//        List<ADASRecognizedResult> recognizedResults = RealTimeApisHandler.getInstance().getApis().getRecognizedResultManager().getLastADASRecognizedResult();//外显接口返回
+        OnePerSecondSendContent content = new OnePerSecondSendContent();
+        content.self = locationResult;
+//        content.adas = recognizedResults;
+
+        if (content.self == null &&
+                (content.adas == null || content.adas.isEmpty())) {
+            Log.d(TAG, "no information to sent");
+            return;
+        }
+        WebSocketData webSocketData = new WebSocketData();
+        webSocketData.setMsgType(MSG_TYPE_UPLINK_CAR_DATA.getMsgType());
+        webSocketData.setSeq(computeSendMsgTime());
+        webSocketData.setSn(MoGoAiCloudClient.getInstance().getAiCloudClientConfig().getSn());
+        webSocketData.setData(GsonUtil.jsonFromObject(content));
+        String msg = GsonUtil.jsonFromObject(webSocketData);
+
+        int msgType = 0x040003; //低频数据
+        if (cloudLocationInfo.size() > 2) {
+            msgType = 0x040002; //高频数据
+        }
+        MsgBody msgBody = new MsgBody();
+        msgBody.msgType(msgType);
+        msgBody.content(msg);
+        SocketManager.getInstance().sendMsg(msgBody, msgId -> {
+
+        });
+    }
+
+    public void stop() {
+        SocketManager.getInstance().unregisterOnMessageListener(0x040002, onMessageListener);
+        SocketManager.getInstance().unregisterOnMessageListener(0x040003, onMessageListener);
+        listenerList.clear();
+    }
+
+    /**
+     * 服务端会在ack数据中增加服务端的时间戳{@link #serverTime}, 收到消息时，记录收到消息的时间{@link #receiveMsgTime}，收消息的时间用{@link SystemClock#elapsedRealtime()}可以避免系统时间改变造成的影响
+     * 在发送数据时，使用serverTime+(elapseRealtime()-receiveMsgTime)计算发送数据时的时间戳，这个时间戳是基本相对服务端的时间戳为基准的时间，忽略了ack下发时的时间延迟
+     * <p>
+     * 如果{@link #serverTime}或{@link #receiveMsgTime}数据有异常，则使用{@link System#currentTimeMillis()}当做当前时间，作为容错
+     *
+     * @return 基本相对服务端的时间戳为基准的时间
+     */
+    private long computeSendMsgTime() {
+        long sendMsgTime;
+        if (serverTime > 0 && receiveMsgTime > 0) {
+            sendMsgTime = serverTime + (SystemClock.elapsedRealtime() - receiveMsgTime);
+        } else {
+            sendMsgTime = System.currentTimeMillis();
+        }
+        return sendMsgTime;
     }
 
 }