[dev_arch_opt_3.0]

[Change]
[
1、完成工控机数据和高德GPS地图数据的数据中心，以及工控机数据超时后的自动切换为高德地图GPS数据
定位监听已重构，CallerChassisLocationGCJ20ListenerManager---高的坐标系，CallerChassisLocationWGS84ListenerManager--高精坐标系，之前代码已修改，大家后续项目中根据需要进行订阅，如需控制频率可在订阅时
// 设置数据回调频率，单位HZ，1HZ的周期是1秒；50HZ的周期是1/50=0.02秒；10HZ的周期是1/10=0.1秒。
CallerChassisLocationWGS84ListenerManager.setListenerHz(Companion.functionName, 20)
CallerChassisLocationGCJ20ListenerManagersetListenerHz(Companion.functionName, 20)
]

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/callback/IBusPassengerControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.bus.passenger.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2022/3/31
@@ -11,5 +11,5 @@ public interface IBusPassengerControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
 }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -89,7 +89,7 @@ public class BusPassengerModel {
     private IBusPassegerDriverStatusCallback mDriverStatusCallback; //出车收车状态
     private IBusPassengerRouteLineInfoCallback mRouteLineInfoCallback; // bus路线信息更新
 
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation  mLocation = null;
 
     private BusPassengerRoutesResult routesResult = null;
 
@@ -321,7 +321,7 @@ public class BusPassengerModel {
 
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLocation = gnssInfo;
             for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java

@@ -1,6 +1,7 @@
 package com.mogo.och.bus.passenger.presenter;
 
-import android.location.Location;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+
 import android.os.Looper;
 
 import androidx.annotation.NonNull;
@@ -24,10 +25,6 @@ import com.mogo.och.bus.passenger.ui.BusPassengerRouteFragment;
 
 import java.util.List;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
-
-import mogo.telematics.pad.MessagePad;
-
 /**
  * Created on 2022/3/31
  */
@@ -112,7 +109,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
         }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java

@@ -27,6 +27,7 @@ import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -37,8 +38,6 @@ import com.mogo.och.bus.passenger.utils.BusPassengerMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 乘客屏小地图
  */
@@ -175,7 +174,7 @@ public class BusPassengerMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java

@@ -16,7 +16,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.amap.api.maps.model.LatLng;
 import com.elegant.utils.UiThreadHandler;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.och.bus.passenger.R;
@@ -32,8 +32,6 @@ import com.mogo.och.common.module.wigets.MarqueeTextView;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/4/12
@@ -299,8 +297,8 @@ public class BusPassengerRouteFragment extends
         lastBearing = bearing;
     }
 
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
-        updateSpeedView((float) location.getVehicleSpeed());
+    public void onCarLocationChanged(MogoLocation location) {
+        updateSpeedView((float) location.getGnssSpeed());
     }
 
     public void updateSpeedView(float speed){

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusControllerStatusCallback.java

@@ -2,8 +2,6 @@ package com.mogo.och.bus.callback;
 
 import com.mogo.eagle.core.data.map.MogoLocation;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * Created on 2021/9/10
  *
@@ -13,7 +11,7 @@ public interface IBusControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java

@@ -24,10 +24,11 @@ import com.mogo.commons.module.status.StatusDescriptor;
 import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -377,7 +378,7 @@ public class BusOrderModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLongitude = gnssInfo.getLongitude();
             mLatitude = gnssInfo.getLatitude();
@@ -393,7 +394,7 @@ public class BusOrderModel {
     };
 
     //根据围栏判断，是否到达站点
-    private void judgeArrivedStation(MessagePad.GnssInfo location) {
+    private void judgeArrivedStation(MogoLocation location) {
 
         if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
             CallerLogger.INSTANCE.e(M_BUS + TAG, "到站数组越界");
@@ -634,7 +635,7 @@ public class BusOrderModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
 
         CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
                 + " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
@@ -778,8 +779,8 @@ public class BusOrderModel {
     public void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {//收车结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false; //是否强制绘制引导线
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false");
         }
     }
@@ -861,7 +862,7 @@ public class BusOrderModel {
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
             } else if (backgroundCurrentStationIndex > 0 && backgroundCurrentStationIndex < stationList.size() - 1) {
                 //美化模式下 中间站点到站 引导线要一直绘制，所以此处不出强制绘制不传false
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：false（到达中间站）");
                 clearStartAutopilotTag();
             } else {
@@ -952,8 +953,8 @@ public class BusOrderModel {
 
     private void startBeautificationMode() {
         FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-        CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-        CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+        CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+        CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
     }
 
     public void clearBusStationDatas() {
@@ -992,7 +993,7 @@ public class BusOrderModel {
             return;
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
-        CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+        CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
 
         endTask();
     }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java

@@ -233,9 +233,9 @@ public class BusPresenter extends Presenter<BusFragment>
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
         }
     }
 

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt

@@ -1,6 +1,6 @@
 package com.mogo.och.bus.util
 
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 
@@ -31,6 +31,6 @@ object BusSendTripInfoManager{
         d(SceneConstant.M_BUS + "BusSendTripInfoManager", "type: "+ type
                 +", lineName: "+ lineName +", departureStopName: "+ departureStopName
                 + ", arrivalStopName: "+arrivalStopName+", isLastStop: "+isLastStop)
-        CallerAutoPilotManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
+        CallerAutoPilotControlManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
     }
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java

@@ -3,7 +3,7 @@ package com.mogo.och.bus.util;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.och.bus.bean.BusRoutesResult;
@@ -198,7 +198,7 @@ public class BusTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt

@@ -3,6 +3,7 @@ package com.mogo.och.common.module.biz.model
 import android.annotation.SuppressLint
 import android.content.Context
 import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
@@ -17,7 +18,6 @@ import com.mogo.och.common.module.biz.constant.TaxiLoginStatusEnum
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.network.OchCommonServiceManager
 import com.mogo.och.common.module.utils.ToastUtilsOch
-import mogo.telematics.pad.MessagePad
 
 /**
  * Created by pangfan on 2021/8/19
@@ -46,7 +46,7 @@ object OchCommonLoginModel : IMoGoChassisLocationGCJ02Listener {
         return true
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLongitude = it.longitude
             mLatitude = it.latitude

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java

@@ -192,7 +192,7 @@ public class CoordinateCalculateRouteUtil {
         for (MessagePad.Location m : models) {
             LatLng mogoLatLng = coordinateConverterWgsToGcj(mContext, m);
             MogoLocation location = new MogoLocation();
-            location.setBearing((float) m.getHeading());
+            location.setHeading((float) m.getHeading());
             location.setLatitude(mogoLatLng.latitude);
             location.setLongitude(mogoLatLng.longitude);
             list.add(location);
@@ -231,7 +231,7 @@ public class CoordinateCalculateRouteUtil {
      */
     public static Map<Integer,List<MogoLocation>> getRemainPointListByCompareNew(int preIndex,
                                                                            List<MogoLocation> mRoutePoints,
-                                                                                 MessagePad.GnssInfo  realLocation) {
+                                                                                 MogoLocation  realLocation) {
         Map<Integer,List<MogoLocation>> routePonits = new HashMap<>();
         List<MogoLocation> latePoints = new ArrayList<>(); // 剩余轨迹集合
         int currentIndex = 0; //记录疑似点
@@ -245,8 +245,8 @@ public class CoordinateCalculateRouteUtil {
             for (int i= 0; i < mRoutePoints.size(); i++){
                 MogoLocation latLng = mRoutePoints.get(i);
                 //todo 先看index对应点的方向和realLocation方向是否一致， 方向角度不能过90度
-                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
-                        Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
+                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getHeading() ||
+                        Math.abs(realLocation.getHeading() - latLng.getHeading()) <= 90){
                     float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                             realLocation.getLatitude(),
                             latLng.getLongitude(),latLng.getLatitude());
@@ -276,7 +276,7 @@ public class CoordinateCalculateRouteUtil {
     }
 
     public static int getArrivedPointIndexNew(int preIndex, List<MogoLocation> mRoutePoints,
-                                              MessagePad.GnssInfo  realLocation) {
+                                              MogoLocation  realLocation) {
         int currentIndex = 0; //记录疑似点         //基础点
         MogoLocation baseLatLng = mRoutePoints.get(0);
         float baseDiffDis = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
@@ -285,8 +285,8 @@ public class CoordinateCalculateRouteUtil {
 
         for (int i = 0; i < mRoutePoints.size(); i++) {
             MogoLocation latLng = mRoutePoints.get(i);
-            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
-                    Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
+            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getHeading() ||
+                    Math.abs(realLocation.getHeading() - latLng.getHeading()) <= 90){
             float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                     realLocation.getLatitude(),
                     latLng.getLongitude(), latLng.getLatitude());

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.sweeper.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,7 +11,7 @@ public interface ISweeperControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo  location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java

@@ -19,9 +19,10 @@ import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -273,7 +274,7 @@ public class SweeperOrderModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLongitude = gnssInfo.getLongitude();
             mLatitude = gnssInfo.getLatitude();
@@ -289,7 +290,7 @@ public class SweeperOrderModel {
     };
 
     //根据围栏判断，是否到达起点
-    private void judgeStartStation(MessagePad.GnssInfo  location) {
+    private void judgeStartStation(MogoLocation  location) {
 
         if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
             return;
@@ -390,7 +391,7 @@ public class SweeperOrderModel {
                             CallerLogger.INSTANCE.d(M_BUS + TAG, "单程真的结束了====");
                             isGoingToNextStation = false;
                             backgroundCurrentStationIndex = 0;
-                            CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+                            CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
                             querySweeperRoutes();
                         }
                     }
@@ -467,7 +468,7 @@ public class SweeperOrderModel {
 //        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
 //                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
         CallerLogger.INSTANCE.d(M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters));
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
 
         if (mControllerStatusCallback != null) {
             mControllerStatusCallback.startOpenAutopilot();
@@ -553,7 +554,7 @@ public class SweeperOrderModel {
     private void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {//收车结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（收车）");
         }
     }
@@ -676,7 +677,7 @@ public class SweeperOrderModel {
                 && backgroundCurrentStationIndex <= stationList.size() - 1)
                 && stationList.get(backgroundCurrentStationIndex).isLeaving()) {//行驶过程中设置美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
         }
 
@@ -794,7 +795,7 @@ public class SweeperOrderModel {
             return;
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
-        CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+        CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
         AIAssist.getInstance(mContext).speakTTSVoice("感谢您体验'蘑菇车联'无人驾驶小巴车，请您携带好随身物品，我们下次再见");
         leaveStation(true, true);
     }
@@ -819,7 +820,7 @@ public class SweeperOrderModel {
 
         if (FunctionBuildConfig.isDemoMode && backgroundCurrentStationIndex <= stationList.size() - 1) {//到达一站结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（到最后一站）");
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "到站====currentStationIndex=" + backgroundCurrentStationIndex);

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -237,9 +238,9 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
         }
     }
 

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java

@@ -27,7 +27,7 @@ import androidx.annotation.Nullable;
 import androidx.appcompat.app.AlertDialog;
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
@@ -39,7 +39,6 @@ import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 
-import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
 
@@ -942,7 +941,7 @@ public class SweeperOperatePanelView extends LinearLayout {
         // onSendCmd
         mCurrentCmdRequestCallback.onSendCmd();
         // 发送命令
-        CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
+        CallerAutoPilotControlManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
         // log发送命令
         logSweeperCmdValue(fuTianCleanCmd);
         // 开启倒计时

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java

@@ -3,7 +3,7 @@ package com.mogo.och.sweeper.util;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.och.sweeper.bean.SweeperRoutesResult;
@@ -197,7 +197,7 @@ public class SweeperTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/IOCHTaxiPassengerControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.taxi.passenger.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,5 +11,5 @@ public interface IOCHTaxiPassengerControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
 }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -32,7 +32,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.msgbox.IMsgBoxEventListener;
 import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -128,7 +128,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private int delayTime = 2;
 
     private double mLongitude, mLatitude;
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation mLocation = null;
 
     private List<MogoLocation> mLocationsModels = new ArrayList<>();
 
@@ -436,7 +436,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     }
 
     // TODO: 2021/9/12
-    public void calculateTravelDistance(MessagePad.GnssInfo carLocation){
+    public void calculateTravelDistance(MogoLocation carLocation){
         if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size()>0) {
             double endLon = mCurrentOCHOrder.endSiteGcjPoint.get(0);
             double endLat = mCurrentOCHOrder.endSiteGcjPoint.get(1);
@@ -477,7 +477,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
             if (null == gnssInfo) return;
             if (checkCurrentOCHOrder()) {
@@ -973,7 +973,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "start autopilot with parameter: %s"
                 , GsonUtil.jsonFromObject(parameters)
                         + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java

@@ -122,7 +122,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         // 速度不用展示
         // LeftMenuOpen.INSTANCE.callCallBack(-1,-1,location.getSpeed());
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -139,7 +140,7 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
     private static final long TIMEINTERVAL = 4000;
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
             long currentTimeMillis = System.currentTimeMillis();

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java

@@ -29,6 +29,7 @@ import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -39,8 +40,6 @@ import com.mogo.och.taxi.passenger.utils.TaxiPassengerMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 乘客屏小地图
  */
@@ -180,7 +179,7 @@ public class TaxiPassengerMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null){
             return;
         }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java

@@ -21,6 +21,7 @@ import androidx.fragment.app.FragmentTransaction;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.MvpFragment;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -42,8 +43,6 @@ import com.mogo.och.taxi.passenger.utils.TPRouteDataTestUtils;
 import java.util.Calendar;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/3/8
@@ -352,8 +351,8 @@ public class TaxiPassengerServingOrderFragment extends
 
     }
 
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
-        updateSpeedView((float) location.getVehicleSpeed());
+    public void onCarLocationChanged(MogoLocation location) {
+        updateSpeedView((float) location.getGnssSpeed());
     }
 
     public void onLimitingVelocityChange(int limitingVelocity) {

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.taxi.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,7 +11,7 @@ public interface ITaxiControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo  location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -30,7 +30,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -133,7 +133,7 @@ public class TaxiModel {
     private int mPreRouteIndex = 0;
 
     private double mLongitude, mLatitude;
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation  mLocation = null;
 
     private LoginService loginService;
 
@@ -823,8 +823,8 @@ public class TaxiModel {
             if (FunctionBuildConfig.isDemoMode) {
                 // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                 FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+                CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（更新本地order信息）");
             }
 
@@ -833,7 +833,7 @@ public class TaxiModel {
         if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.getCode()){
             if (FunctionBuildConfig.isDemoMode) {
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "setIPCDemoMode：false");
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             }
 
             clearAutopilotControlParameters();
@@ -870,8 +870,8 @@ public class TaxiModel {
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（已完成or清除当前订单）");
         }
     }
@@ -934,7 +934,7 @@ public class TaxiModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s",
                 GsonUtil.jsonFromObject(parameters)
                 + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
@@ -987,7 +987,7 @@ public class TaxiModel {
     //结束自动驾驶
     public void cancelAutopilot() {
         try {
-            CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+            CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "结束自动驾驶");
         } catch (Exception e) {
             e.printStackTrace();
@@ -995,7 +995,7 @@ public class TaxiModel {
     }
 
     //根据围栏判断，是否到达起点
-    private void judgeStartStation(MessagePad.GnssInfo  location) {
+    private void judgeStartStation(MogoLocation location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.startSiteGcjPoint == null
                 || mCurrentOCHOrder.startSiteGcjPoint.size() < 2) {
             return;
@@ -1054,7 +1054,7 @@ public class TaxiModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationLIstener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
             if (null == gnssInfo) return;
             if (checkCurrentOCHOrder()) {
@@ -1076,7 +1076,7 @@ public class TaxiModel {
         }
     };
 
-    private void judgeEndStation(MessagePad.GnssInfo  location) {
+    private void judgeEndStation(MogoLocation  location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.endSiteGcjPoint == null
                 || mCurrentOCHOrder.endSiteGcjPoint.size() < 2) {
             return;
@@ -1172,8 +1172,8 @@ public class TaxiModel {
                         if (FunctionBuildConfig.isDemoMode) {
                             // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-                            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+                            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+                            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
                             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
                         }
                     }
@@ -1243,7 +1243,7 @@ public class TaxiModel {
                 // 2022.10.08 到达目的地时候取消自动起自驾， 服务完成取消引导线和自动驾驶按钮状态
 //                FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
 //                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（到达目的地）");
             }
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -314,10 +315,10 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location){
             runOnUIThread(() -> {
-                mView.updateSpeedView((float) location.getVehicleSpeed());
+                mView.updateSpeedView((float) location.getGnssSpeed());
                 mView.updateLocation(location.getLatitude(),location.getLongitude());
             });
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiMapDirectionView.java

@@ -29,6 +29,7 @@ import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -38,8 +39,6 @@ import com.mogo.och.taxi.utils.TaxiMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * taxi司机端前往目的地小地图导航
  */
@@ -176,7 +175,7 @@ public class TaxiMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null){
             return;
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java

@@ -3,10 +3,9 @@ package com.mogo.och.taxi.utils;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
-import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
 import com.mogo.och.taxi.constant.TaxiConst;
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
@@ -201,7 +200,7 @@ public class TaxiTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -130,7 +130,7 @@ class DispatchAutoPilotManager private constructor() :
                 AutopilotControlParameters.AutoPilotLonLat(it.endLat, it.endLon)
             currentAutopilot.vehicleType = 10
             CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "开启自动驾驶====$currentAutopilot")
-            CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+            CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
         }
     }
 

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/redlightwarning/RedLightWarningManager.kt

@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP_G
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
@@ -26,7 +27,6 @@ import com.mogo.eagle.core.utilcode.util.LocationUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.zhjt.service_biz.BizConfig
-import mogo.telematics.pad.MessagePad
 import kotlin.math.abs
 import kotlin.math.ceil
 import kotlin.math.floor
@@ -44,7 +44,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
     // 是否已进入到路口(停止线处)
     private var isEnter = false
 
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
 
     companion object {
 
@@ -100,7 +100,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
         // 路口100m闯红灯预警
         mLocation?.let {
             // 单位m/s
-            val speed = it.vehicleSpeed
+            val speed = it.gnssSpeed
             // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
             CallerLogger.d("$M_V2X$TAG", "speed is:$speed")
             if (speed <= 2.5f) return// 小于等于9km/h不处理
@@ -277,7 +277,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
         CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
         }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt

@@ -3,6 +3,7 @@ package com.mogo.eagle.function.biz.v2x.trafficlight.core
 import android.content.Context
 import android.os.Handler
 import android.os.Looper
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
@@ -15,7 +16,6 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandl
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_CROSS_ROAD
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT
 import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
-import mogo.telematics.pad.MessagePad
 
 class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
@@ -30,7 +30,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
     private var mContext: Context? = null
     private val trafficLightNetWorkModel = TrafficLightNetWorkModel()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
     private var roadIDResult: RoadIDResult? = null
     private var trafficLightResult: TrafficLightResult? = null
 
@@ -174,7 +174,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
         trafficLightResult = null
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
             checkOutOfRange()

core/function-impl/mogo-core-function-datacenter/build.gradle

@@ -57,6 +57,7 @@ dependencies {
     implementation rootProject.ext.dependencies.mogoaicloudtelematic
 
     implementation rootProject.ext.dependencies.mogoobu
+    implementation rootProject.ext.dependencies.amapnavi3dmap
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         implementation rootProject.ext.dependencies.mogo_core_data

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt

@@ -4,6 +4,7 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterProvider
+import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
 
 @Route(path = MogoServicePaths.PATH_DATA_CENTER_MODULE)
 class DataCenterProvider: IDataCenterProvider {
@@ -12,7 +13,7 @@ class DataCenterProvider: IDataCenterProvider {
         get() = "DataCenterProvider"
 
     override fun init(context: Context?) {
-
+        MoGoLocationDispatcher.initListener()
     }
 
     override fun onDestroy() {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -21,7 +21,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
@@ -67,8 +67,9 @@ import java.util.concurrent.TimeUnit
  * @date 2021/9/22 8:43 下午
  */
 @Route(path = MogoServicePaths.PATH_AUTO_PILOT)
-class MoGoAutopilotProvider :
-    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
+class MoGoAutopilotControlProvider :
+    IMoGoAutopilotControlProvider,
+    IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
     IMoGoAutopilotCarConfigListener {
     private val TAG = "MoGoAutoPilotProvider"
     private var mContext: Context? = null

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -45,8 +45,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
@@ -135,10 +133,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
             clientPkFileName = "sn"
     )
     override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
-        // WGS84坐标系高精度位置信息
-        invokeChassisLocationWGS84(gnssInfo)
-        // GCJ02高德坐标系位置信息
-        invokeChassisLocationGCJ02(gnssInfo)
+        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
+
         if (gnssInfo != null) {
             if (1 == FunctionBuildConfig.gpsProvider) {
                 // 同步给MAP地图

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt

@@ -5,7 +5,7 @@ import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -52,13 +52,13 @@ class MoGoAdasMsgConnectStatusListenerImpl :
             // 同步SN给工控机
             syncBasicInfoToAutopilot()
             //每次工控机连接成功后，需同步当前设置的美化模式状态
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             //当连接状态是关闭美化模式时，同步给工控机
             if (!FunctionBuildConfig.isDemoMode) {
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
             //每次工控机连接成功后，需同步当前设置的雨天模式状态
-            CallerAutoPilotManager.setRainMode(FunctionBuildConfig.isRainMode)
+            CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason")
             if (connectStatus) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.datacenter.autopilot.server
 
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 
 /**
@@ -26,6 +26,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
     }
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
-        CallerAutoPilotManager.sendTrafficLightData(trafficLightResult)
+        CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
 }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt

@@ -8,9 +8,9 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -174,7 +174,7 @@ class TeleMsgHandler : IMsgHandler {
 
     private fun queryCarConfig() {
         invokeNettyConnResult("乘客屏请求司机屏向工控机查询配置信息")
-        CallerAutoPilotManager.getCarConfig()
+        CallerAutoPilotControlManager.getCarConfig()
     }
 
     override fun handleClientConn2Server(channel: Channel?) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt

@@ -1,16 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import mogo.telematics.pad.MessagePad
-
-/**
- * 位置回调监听
- */
-interface IMoGoLocationListener {
-    /**
-     * 位置改变回调用
-     * @param gnssInfo 位置信息
-     * @param sourceType 数据来源
-     */
-    fun onLocationChanged(gnssInfo: MessagePad.GnssInfo, sourceType: DataSourceType)
-}

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt

@@ -0,0 +1,176 @@
+package com.mogo.eagle.core.function.datacenter.location
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.location.AMapLocationClient
+import com.amap.api.location.AMapLocationClientOption
+import com.amap.api.location.AMapLocationListener
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.CoordinateTransform
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.Utils
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
+ *
+ * @author donghongyu
+ */
+object MoGoLocationDispatcher :
+    IMoGoChassisGnssListener,
+    AMapLocationListener {
+
+    private val TAG = "MoGoLocationManager"
+
+    private var mCityCode: String? = null
+    private var mapLocation: AMapLocation? = null
+
+    /**
+     * 最后一次工控机GNSS返回更新的位置
+     */
+    private var lastGnssLocation: MogoLocation = MogoLocation()
+
+    /**
+     * 最后一次高德定位返回的位置信息
+     */
+    private var lastGaoDeLocation: MogoLocation = MogoLocation()
+
+    fun initListener() {
+        // 高德SDK隐私政策
+        AMapLocationClient.updatePrivacyShow(Utils.getApp(), true, true)
+        AMapLocationClient.updatePrivacyAgree(Utils.getApp(), true)
+
+        try {
+            val mLocationClient = AMapLocationClient(Utils.getApp())
+
+            //初始化定位参数
+            //声明mLocationOption对象
+            val mLocationOption = AMapLocationClientOption()
+            //设置定位监听
+            mLocationClient.setLocationListener(this)
+            //设置定位模式为高精度模式，Battery_Saving为低功耗模式，Device_Sensors是仅设备模式
+            mLocationOption.locationMode = AMapLocationClientOption.AMapLocationMode.Hight_Accuracy
+            //设置定位间隔,单位毫秒,默认为2000ms
+            mLocationOption.interval = 1000
+            //设置定位参数
+            mLocationClient.setLocationOption(mLocationOption)
+            // 启动定位监听
+            mLocationClient.startLocation()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+
+        // 初始化监听订阅工控机位置信息
+        CallerChassisGnssListenerManager.addListener(TAG, this)
+    }
+
+    override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
+        // 更新GNSS 信息
+        lastGnssLocation.gnssInfo = gnssInfo
+        lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            lastGnssLocation.cityName = it.city
+            lastGnssLocation.cityCode = it.cityCode
+            lastGnssLocation.provider = it.provider
+            lastGnssLocation.address = it.address
+            lastGnssLocation.district = it.district
+            lastGnssLocation.province = it.province
+            lastGnssLocation.adCode = it.adCode
+            lastGnssLocation.locationDetail = it.locationDetail
+            lastGnssLocation.poiName = it.poiName
+            lastGnssLocation.aoiName = it.aoiName
+            lastGnssLocation.street = it.street
+            lastGnssLocation.streetNum = it.streetNum
+            lastGnssLocation.description = it.description
+            lastGnssLocation.buildingId = it.buildingId
+            lastGnssLocation.floor = it.floor
+            lastGnssLocation.errorCode = it.errorCode
+            lastGnssLocation.errorInfo = it.errorInfo
+        }
+
+        // WGS84坐标系高精度位置信息
+        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+            lastGnssLocation,
+            DataSourceType.TELEMATIC
+        )
+        // GCJ02高德坐标系位置信息
+        CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+            lastGnssLocation,
+            DataSourceType.TELEMATIC
+        )
+    }
+
+    /**
+     * 高德地图位置改变回调
+     * @param aMapLocation 位置信息
+     */
+    override fun onLocationChanged(aMapLocation: AMapLocation) {
+        mapLocation = aMapLocation
+        // 更新GNSS 信息
+
+
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            // 转换 GCJ02-->WGS84 坐标
+            val wgs84Location =
+                CoordinateTransform.GCJ02ToWGS84(it.longitude, it.latitude)
+
+            lastGaoDeLocation.longitude = wgs84Location[0]
+            lastGaoDeLocation.latitude = wgs84Location[1]
+            lastGaoDeLocation.heading = it.bearing.toDouble()
+            lastGaoDeLocation.gnssSpeed = it.speed
+            lastGaoDeLocation.altitude = it.altitude
+            lastGaoDeLocation.satelliteTime = it.time
+            lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
+
+            lastGaoDeLocation.cityName = it.city
+            lastGaoDeLocation.cityCode = it.cityCode
+            lastGaoDeLocation.provider = it.provider
+            lastGaoDeLocation.address = it.address
+            lastGaoDeLocation.district = it.district
+            lastGaoDeLocation.province = it.province
+            lastGaoDeLocation.adCode = it.adCode
+            lastGaoDeLocation.locationDetail = it.locationDetail
+            lastGaoDeLocation.poiName = it.poiName
+            lastGaoDeLocation.aoiName = it.aoiName
+            lastGaoDeLocation.street = it.street
+            lastGaoDeLocation.streetNum = it.streetNum
+            lastGaoDeLocation.description = it.description
+            lastGaoDeLocation.buildingId = it.buildingId
+            lastGaoDeLocation.floor = it.floor
+            lastGaoDeLocation.errorCode = it.errorCode
+            lastGaoDeLocation.errorInfo = it.errorInfo
+        }
+
+        // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
+        if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastGaoDeLocation,
+                DataSourceType.MAP
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+                lastGaoDeLocation,
+                DataSourceType.MAP
+            )
+        }
+
+        // 本地SP缓存城市Code
+        val cityCode = aMapLocation.cityCode
+        if (cityCode != null && cityCode.isNotEmpty()) {
+            mCityCode = aMapLocation.cityCode
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+        }
+
+    }
+}

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt

@@ -1,71 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.eagle.core.utilcode.util.TimeUtils
-import com.mogo.support.obu.model.MogoObuHvBasicsData
-import mogo.telematics.pad.MessagePad
-
-/**
- * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
- *
- * @author donghongyu
- */
-object MoGoLocationManager :
-    CallerBase<IMoGoLocationListener>(),
-    IMoGoChassisLocationWGS84Listener,
-    IMoGoObuLocationWGS84Listener {
-
-    private val TAG = "MoGoLocationManager"
-
-    init {
-        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-    }
-
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
-        M_LISTENERS.forEach {
-            val tag = it.key
-            // 获取数据监听需要的HZ
-            val hz = M_LISTENERS_HZ[tag]
-            if (hz != null && hz > 0) {
-                val hzTime = (1.0 / hz.toDouble()) * 1000
-                // 获取最后一次回调的时间
-                val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
-                if (hzLastSendTime != null && hzLastSendTime > 0) {
-                    // 计算是否进入下一次回调周期
-                    val nowTime = TimeUtils.getNowMills()
-                    if (nowTime - hzLastSendTime > hzTime) {
-                        syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-                    }
-                } else {
-                    syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-                }
-            } else {
-                syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-            }
-        }
-    }
-
-    /**
-     * 向订阅位置信息的发出定位信息
-     */
-    private fun syncLocationCallback(
-        tag: String,
-        it: Map.Entry<String, IMoGoLocationListener>,
-        gnssInfo: MessagePad.GnssInfo,
-        sourceType: DataSourceType
-    ) {
-        // 记录最后一次回调时间
-        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
-        val listener = it.value
-        listener.onLocationChanged(gnssInfo, sourceType)
-    }
-
-    override fun onObuLocationWGS84(data: MogoObuHvBasicsData) {
-
-    }
-
-}

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/README.md

@@ -3,8 +3,8 @@
 ##### 位置回调：融合工控机、OBU、高德地图
 
 ```kotlin
-// 注册监听位置变换
-MoGoLocationManager.addListener(Companion.functionName, object : IMoGoLocationListener {
+// 注册监听位置变换,唯一标记，要接受数据的HZ，回掉监听
+MoGoLocationManager.addListener(Companion.functionName, 20, object : IMoGoLocationListener {
     override fun onLocationChanged(
         gnssInfo: MessagePad.GnssInfo,
         sourceType: DataSourceType

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt

@@ -10,11 +10,12 @@ import android.widget.RadioButton
 import android.widget.TextView
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -27,7 +28,6 @@ import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.util.*
 
@@ -119,7 +119,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
         // 添加 ADAS车辆状态&定位 监听
         CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this)
         //开始录制AI数据采集Bag包
-        CallerAutoPilotManager.recordPackage(
+        CallerAutoPilotControlManager.recordPackage(
             99,
             Random(SystemClock.elapsedRealtime()).nextInt(),
             20,
@@ -353,7 +353,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         latitude = gnssInfo.latitude
         longitude = gnssInfo.longitude
     }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt

@@ -11,7 +11,7 @@ import androidx.recyclerview.widget.GridLayoutManager
 import com.mogo.eagle.core.data.badcase.RecordTypeEntity
 import com.mogo.eagle.core.data.badcase.TopicEntity
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -206,7 +206,7 @@ internal class BadCaseConfigView @JvmOverloads constructor(
         super.onAttachedToWindow()
         CallerAutopilotRecordListenerManager.addListener(TAG, this)
         //获取数据采集录制模式配置列表
-        CallerAutoPilotManager.getBadCaseConfig(0, 0, listOf())
+        CallerAutoPilotControlManager.getBadCaseConfig(0, 0, listOf())
         recordTypesList.add(RecordTypeEntity(0,"自定义", arrayListOf()))
     }
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseListDialog.java

@@ -11,7 +11,7 @@ import androidx.recyclerview.widget.RecyclerView;
 
 import com.mogo.eagle.core.data.badcase.RecordCaseEntity;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.zhjt.mogo_core_function_devatools.R;
@@ -77,7 +77,7 @@ public class CaseListDialog extends Dialog implements IMoGoAutopilotRecordListen
         super.onAttachedToWindow();
         CallerAutopilotRecordListenerManager.INSTANCE.addListener(TAG, this);
         //获取数据采集录制模式配置列表
-        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(0, 0,new ArrayList<>());
+        CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(0, 0,new ArrayList<>());
     }
 
     @Override

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java

@@ -17,7 +17,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.mogo.eagle.core.data.badcase.RecordTypeEntity;
 import com.mogo.eagle.core.data.badcase.TopicEntity;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -69,7 +69,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
         init();
         initEvent();
         //获取所有Topic
-        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
+        CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
         if (recordType != null) {
             tvCaseName.setText(recordType.getDesc());
             if (recordType.getTopicsList().size() > 0) {
@@ -160,7 +160,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
         });
         tvSave.setOnClickListener(v -> {
             if (recordType != null) {
-                Boolean success = CallerAutoPilotManager.INSTANCE.getBadCaseConfig(2, recordType.getId(), addTopicList);
+                Boolean success = CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(2, recordType.getId(), addTopicList);
                 if (Boolean.TRUE.equals(success)) {
                     ToastUtils.showShort("Topic设置成功");
                     if (recordType.getId() == 0) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt

@@ -14,11 +14,12 @@ import android.widget.TextView
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.badcase.RecordCaseEntity
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -35,7 +36,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.io.File
 import java.util.*
@@ -347,7 +347,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
             //开启录包
             if (recordCaseEntity != null) {
-                CallerAutoPilotManager.recordPackage(
+                CallerAutoPilotControlManager.recordPackage(
                     recordCaseEntity.caseId,
                     Random(SystemClock.elapsedRealtime()).nextInt(),
                     BadCaseConfig.totalDuration,
@@ -355,7 +355,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
                     recordCaseEntity.topicList
                 )
             } else {
-                CallerAutoPilotManager.recordPackage(
+                CallerAutoPilotControlManager.recordPackage(
                     BadCaseConfig.type, Random(SystemClock.elapsedRealtime()).nextInt(),
                     BadCaseConfig.totalDuration, BadCaseConfig.previousDuration
                 )
@@ -394,7 +394,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         latitude = gnssInfo.latitude
         longitude = gnssInfo.longitude
     }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt

@@ -15,6 +15,7 @@ import android.widget.TextView
 import com.google.android.flexbox.FlexboxLayout
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.RecordBagMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
@@ -34,7 +35,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
 import me.jessyan.autosize.utils.AutoSizeUtils
-import mogo.telematics.pad.MessagePad
 import org.greenrobot.eventbus.EventBus
 import java.io.File
 
@@ -380,9 +380,9 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
-        latitude = gnssInfo?.latitude
-        longitude = gnssInfo?.longitude
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
+        latitude = gnssInfo.latitude
+        longitude = gnssInfo.longitude
     }
 
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt

@@ -15,7 +15,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_FULL_LOG
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.function.api.map.deva.IMoGoMapDevaProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -220,7 +220,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
         Logger.init(LogLevel.DEBUG)
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = true
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowNetDebugLog = true
-        CallerAutoPilotManager.setEnableLog(true)
+        CallerAutoPilotControlManager.setEnableLog(true)
     }
 
     /**
@@ -230,7 +230,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
         Logger.init(if (DebugConfig.isDebug()) LogLevel.DEBUG else LogLevel.OFF)
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = false
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowNetDebugLog = false
-        CallerAutoPilotManager.setEnableLog(false)
+        CallerAutoPilotControlManager.setEnableLog(false)
     }
 
     override fun onError(errorCount: Int) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -41,7 +41,7 @@ internal class CanImpl(ctx: Context) :
     private val state: AtomicInteger by lazy { AtomicInteger(Int.MIN_VALUE) }
 
     override fun onCreate() {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(CallerAutoPilotControlManager.isConnected()))
 
         CallerChassisAccStateListenerManager.addListener(TAG, this)
         CallerChassisBrakeStateListenerManager.addListener(TAG, this)
@@ -60,7 +60,7 @@ internal class CanImpl(ctx: Context) :
 
     private fun isCanEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        return CallerAutoPilotManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
+        return CallerAutoPilotControlManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
     }
 
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt

@@ -28,7 +28,7 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
     }
 
     private fun checkAndSend() {
-        send(IpcStatus(CallerAutoPilotManager.isConnected()))
+        send(IpcStatus(CallerAutoPilotControlManager.isConnected()))
     }
 
     override fun onDestroy() {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt

@@ -2,9 +2,10 @@ package com.zhjt.mogo_core_function_devatools.status.flow.rtk
 
 import android.content.Context
 import android.util.Log
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -15,7 +16,6 @@ import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad.GnssInfo
 import system_master.SystemStatusInfo.HealthInfo
 import system_master.SystemStatusInfo.StatusInfo
 import java.util.concurrent.atomic.AtomicBoolean
@@ -42,7 +42,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-        if (CallerAutoPilotManager.isConnected()) {
+        if (CallerAutoPilotControlManager.isConnected()) {
             check()
         }
     }
@@ -53,7 +53,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         }
         check?.takeIf { it.isActive }?.cancel()
         launch(Dispatchers.Unconfined) {
-            CallerAutoPilotManager.sendStatusQueryReq()
+            CallerAutoPilotControlManager.sendStatusQueryReq()
             delay(5000)
             isOldVersion.set(true)
         }.also {
@@ -74,18 +74,18 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
+        if (!CallerAutoPilotControlManager.isConnected()) {
             CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
             healthInfo.set(null)
             send(RTKStatus("", -1))
         }
 
-        if (CallerAutoPilotManager.isConnected() && check == null && !isOldVersion.get()) {
+        if (CallerAutoPilotControlManager.isConnected() && check == null && !isOldVersion.get()) {
              check()
         }
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         if (isOldVersion.get()) {
             if (isRTKEnabled()) {
                 send(RTKStatus("RTK", 0))
@@ -103,7 +103,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
     private fun isRTKEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
         val gnssInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        return CallerAutoPilotManager.isConnected() && (
+        return CallerAutoPilotControlManager.isConnected() && (
                 code != "EHW_RTK" &&
                         code != "EHW_GNSS" &&
                         code != "ESYS_RTK_STATUS_FAULT" &&

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt

@@ -40,7 +40,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
+        if (!CallerAutoPilotControlManager.isConnected()) {
             old = UNKNOWN
             send(TracingStatus(UNKNOWN))
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -19,7 +19,7 @@ internal class StatusModel : ViewModel() {
 
         const val TAG = "StatusModel"
         val DEFAULTS = Pair(null, ArrayList<Status>().also {
-            it += IpcStatus(CallerAutoPilotManager.isConnected())
+            it += IpcStatus(CallerAutoPilotControlManager.isConnected())
             it += CanStatus(false)
             it += TracingStatus(UNKNOWN)
             it += RTKStatus("", -1)

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/SyncConfig.kt

@@ -7,7 +7,7 @@ import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -51,7 +51,7 @@ object SyncConfig {
             else -> {
             }
         }
-        AppConfigInfo.teleTimeStamp = CallerAutoPilotManager.getTeleTimeStamp()
+        AppConfigInfo.teleTimeStamp = CallerAutoPilotControlManager.getTeleTimeStamp()
         logOutConfig(AppConfigInfo)
     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt

@@ -31,9 +31,8 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
@@ -51,7 +50,6 @@ import com.mogo.eagle.core.function.hmi.ui.setting.CameraLiveView.Companion.came
 import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
 import com.mogo.eagle.core.function.hmi.ui.setting.ToolsView.Companion.toolsView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
-import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
 import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
 import com.mogo.eagle.core.function.main.DisplayEffectsHelper
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
@@ -216,7 +214,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                         SharedPrefsMgr.getInstance(it)
                             .putLong("roadwork", System.currentTimeMillis() / 1000)
                     }
-                    CallerAutoPilotManager.sendTripInfo(5, "", "", "", false)
+                    CallerAutoPilotControlManager.sendTripInfo(5, "", "", "", false)
                 }
             }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt

@@ -12,7 +12,7 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -95,7 +95,7 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
                     holder.tvBubbleReceiveTime.text = TimeUtils.millis2String(it[position].timestamp,getHourMinFormat())
                     var resultStr = "类型："
                     for (result in reportEntity.resultList){
-                        resultStr = "${resultStr}${CallerAutoPilotManager.getReportResultDesc(result)}"
+                        resultStr = "${resultStr}${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                     }
                     holder.tvBubbleReportType.text = resultStr
                     holder.clReportLayout.setOnClickListener {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
@@ -133,7 +133,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                     var resultStr = "类型："
                     for (result in reportEntity.resultList) {
                         resultStr =
-                            "${resultStr}${CallerAutoPilotManager.getReportResultDesc(result)}"
+                            "${resultStr}${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                     }
                     holder.tvReportTypeNormal.text = resultStr
                     holder.tvReportTypeOpen.text = resultStr
@@ -141,7 +141,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                     var actionStr = ""
                     for (action in reportEntity.actionsList) {
                         actionStr =
-                            "${actionStr}${CallerAutoPilotManager.getReportActionDesc(action)}"
+                            "${actionStr}${CallerAutoPilotControlManager.getReportActionDesc(action)}"
                     }
                     holder.tvReportActionOpen.text = "建议操作：$actionStr"
                     holder.tvStatusSelect.setOnClickListener {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt

@@ -19,7 +19,7 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo
 import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo.NoticeTrafficAccountInfo
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.notice.NoticeValue
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager.bizProvider

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -38,6 +38,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.gnss.AccelerationEntity
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.autopilot.*
@@ -120,7 +121,7 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var logViewAttach = false
 
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
-    private var mGnssInfo: MessagePad.GnssInfo? = null
+    private var mGnssInfo: MogoLocation? = null
 
     private var accelerationFloatWindow: AccelerationFloatWindow? = null
     private var accelerationList = arrayListOf<AccelerationEntity>()
@@ -220,7 +221,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         Timer().schedule(timerTaskRefresh, Date(), 300)
         if (AppConfigInfo.isConnectAutopilot && (AppConfigInfo.plateNumber.isNullOrEmpty() || AppConfigInfo.iPCMacAddress.isNullOrEmpty())) {
             //查询工控机基础配置信息
-            CallerAutoPilotManager.getCarConfig()
+            CallerAutoPilotControlManager.getCarConfig()
         }
     }
 
@@ -594,10 +595,10 @@ internal class DebugSettingView @JvmOverloads constructor(
                 "demoMode",
                 DemoModeView(context)
             )
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             if (!FunctionBuildConfig.isDemoMode) {
                 //关闭美化模式时，通知工控机
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
             tbIsDrawAutopilotTrajectoryData.isEnabled = !FunctionBuildConfig.isDemoMode
             if (!FunctionBuildConfig.isDemoMode) {
@@ -615,7 +616,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
         //雨天模式
         tbIsRainMode.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setRainMode(isChecked)
+            CallerAutoPilotControlManager.setRainMode(isChecked)
             FunctionBuildConfig.isRainMode = isChecked
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
@@ -634,7 +635,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //重启工控机所有节点
         btnIpcReboot.onClick {
-            CallerAutoPilotManager.sendIpcReboot()
+            CallerAutoPilotControlManager.sendIpcReboot()
             ToastUtils.showLong("重启命令已发送")
         }
         //只在司机端设置工控机节点重启功能
@@ -773,7 +774,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         // 模拟自动驾驶中
         tbChangeAutoPilotStatus.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setControlAutopilotCarAuto(isChecked)
+            CallerAutoPilotControlManager.setControlAutopilotCarAuto(isChecked)
         }
         when {
             AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) -> {
@@ -794,7 +795,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
 
         //初始化ADAS日志开关状态
-        tbADASLog.isChecked = CallerAutoPilotManager.isEnableLog()
+        tbADASLog.isChecked = CallerAutoPilotControlManager.isEnableLog()
 
         //查看上报历史列表
         tbReportMore.setOnCheckedChangeListener { _, isChecked ->
@@ -915,7 +916,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         btnConnectServerIp.setOnClickListener {
             val ip = etConnectServerIp.text.toString()
             if (!ip.isNullOrEmpty()) {
-                CallerAutoPilotManager.connectSpecifiedServer(ip)
+                CallerAutoPilotControlManager.connectSpecifiedServer(ip)
             }
         }
 
@@ -982,7 +983,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         btnSetAutopilotIP.setOnClickListener {
             val autoPilotIp = etAutopilotIP.text.toString()
             if (autoPilotIp.isNotEmpty()) {
-                CallerAutoPilotManager.resetIpAddress(autoPilotIp)
+                CallerAutoPilotControlManager.resetIpAddress(autoPilotIp)
             } else {
                 ToastUtils.showShort("请输入正确的IP地址")
             }
@@ -990,7 +991,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //断开与工控机的连接
         btnDisconnectIpc.setOnClickListener {
-            CallerAutoPilotManager.disconnectIpc()
+            CallerAutoPilotControlManager.disconnectIpc()
         }
 
         /**
@@ -1000,32 +1001,32 @@ internal class DebugSettingView @JvmOverloads constructor(
             val recordTimeStr = etInputRecordTime.text?.toString()
             try {
                 if (recordTimeStr.isNullOrEmpty()) {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
                 val recordTime = recordTimeStr?.toInt()
                 if (recordTime != null && recordTime > 0) {
-                    CallerAutoPilotManager.recordPackage(recordTime)
+                    CallerAutoPilotControlManager.recordPackage(recordTime)
                 } else {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
             } catch (e: Exception) {
-                CallerAutoPilotManager.recordPackage()
+                CallerAutoPilotControlManager.recordPackage()
             }
         }
         btnRecordBag.onClick {
             val recordTimeStr = etInputRecordBagTime.text?.toString()
             try {
                 if (recordTimeStr.isNullOrEmpty()) {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
                 val recordTime = recordTimeStr?.toInt()
                 if (recordTime != null && recordTime > 0) {
-                    CallerAutoPilotManager.recordPackage(recordTime)
+                    CallerAutoPilotControlManager.recordPackage(recordTime)
                 } else {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
             } catch (e: Exception) {
-                CallerAutoPilotManager.recordPackage()
+                CallerAutoPilotControlManager.recordPackage()
             }
         }
 
@@ -1193,9 +1194,9 @@ internal class DebugSettingView @JvmOverloads constructor(
          */
         tbADASLog.setOnCheckedChangeListener { _, isChecked ->
             if (isChecked) {
-                CallerAutoPilotManager.setEnableLog(true)
+                CallerAutoPilotControlManager.setEnableLog(true)
             } else {
-                CallerAutoPilotManager.setEnableLog(false)
+                CallerAutoPilotControlManager.setEnableLog(false)
             }
         }
 
@@ -1519,7 +1520,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tvAppVersionNameKey.text = "鹰眼版本名：${AppUtils.getAppVersionName()}"
 
         tvAutopilotProtocolVersionInfo.text =
-            "Autopilot协议版本：${CallerAutoPilotManager.getProtocolVersion()}"
+            "Autopilot协议版本：${CallerAutoPilotControlManager.getProtocolVersion()}"
         if (AppConfigInfo.protocolVersionNumber == 0) {
             tvIpcProtocolVersionInfo.text = "工控机协议版本：未知"
         } else {
@@ -1825,7 +1826,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         mGnssInfo = gnssInfo
         //实时加速度列表
         ThreadUtils.runOnUiThread {
@@ -1904,14 +1905,14 @@ internal class DebugSettingView @JvmOverloads constructor(
                 var resultStr = "result:"
                 for (result in it.resultList) {
                     resultStr =
-                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                        "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                 }
                 tvReportResult.text = resultStr
 
                 var actionStr = "action:"
                 for (action in it.actionsList) {
                     actionStr =
-                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                        "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                 }
                 tvReportActions.text = actionStr
 
@@ -2010,14 +2011,14 @@ internal class DebugSettingView @JvmOverloads constructor(
                 var resultStr = "result:"
                 for (result in it.resultList) {
                     resultStr =
-                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                        "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                 }
                 tvReportResult.text = resultStr
 
                 var actionStr = "action:"
                 for (action in it.actionsList) {
                     actionStr =
-                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                        "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                 }
                 tvReportActions.text = actionStr
                 if ("error" == it.level) {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportAdapter.kt

@@ -6,7 +6,7 @@ import android.view.ViewGroup
 import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.hmi.R
 import me.jessyan.autosize.AutoSizeCompat
 
@@ -37,13 +37,13 @@ class IPCReportAdapter: RecyclerView.Adapter<IPCReportAdapter.IPCReportHolder>()
                 holder.tvReportTimeContent.text = it.time
                 var resultStr = "发生异常"
                 for (result in it.resultList){
-                    resultStr = "${resultStr}-${CallerAutoPilotManager.getReportResultDesc(result)}"
+                    resultStr = "${resultStr}-${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                 }
                 holder.tvReportResultContent.text = resultStr
                 holder.tvReportMsgContent.text = it.msg
                 var actionStr = ""
                 for (action in it.actionsList){
-                    actionStr = "${actionStr}-${CallerAutoPilotManager.getReportActionDesc(action)}"
+                    actionStr = "${actionStr}-${CallerAutoPilotControlManager.getReportActionDesc(action)}"
                 }
                 holder.tvReportActionContent.text = actionStr
             }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListAdapter.kt

@@ -9,7 +9,7 @@ import android.view.ViewGroup
 import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.hmi.R
 
 /**
@@ -45,12 +45,12 @@ class ReportListAdapter(context: Context) :
                 holder.tvReportCode.text = "code:${it.code}"
                 var resultStr = "result:"
                 for (result in it.resultList) {
-                    resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                    resultStr = "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                 }
                 holder.tvReportResult.text = resultStr
                 var actionStr = "action:"
                 for (action in it.actionsList) {
-                    actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                    actionStr = "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                 }
                 holder.tvReportActions.text = actionStr
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
@@ -49,7 +49,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         //绕障类功能开关
         tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
         tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.sendDetouring(isChecked)
+            CallerAutoPilotControlManager.sendDetouring(isChecked)
             FunctionBuildConfig.isDetouring = isChecked
         }
 
@@ -161,10 +161,10 @@ internal class SOPSettingView @JvmOverloads constructor(
         tbDemoMode.setOnCheckedChangeListener { _, _ ->
             FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
             CallerHmiManager.updateStatusBarLeftView(FunctionBuildConfig.isDemoMode, "demoMode", DemoModeView(context))
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             if (!FunctionBuildConfig.isDemoMode) {
                 //关闭美化模式时，通知工控机
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
         }
         //只在司机端设置美化模式开关功能
@@ -177,7 +177,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         tbRainMode.isChecked = FunctionBuildConfig.isRainMode
         //雨天模式
         tbRainMode.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setRainMode(isChecked)
+            CallerAutoPilotControlManager.setRainMode(isChecked)
             FunctionBuildConfig.isRainMode = isChecked
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
@@ -227,7 +227,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
         btnSpeedSet.setOnClickListener {
             val isSuccess =
-                CallerAutoPilotManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
+                CallerAutoPilotControlManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
             if (isSuccess == true) {
                 ToastUtils.showShort("变道绕障的目标障碍物速度阈值设置成功")
             } else {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/switch/DemoModeHiddenSwitch.kt

@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.View
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
@@ -25,10 +25,10 @@ class DemoModeHiddenSwitch(context: Context, attrs: AttributeSet?) : View(contex
                         "demoMode",
                         DemoModeView(context)
                     )
-                    CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+                    CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
                     if (!FunctionBuildConfig.isDemoMode) {
                         //关闭美化模式时，通知工控机
-                        CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                        CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
                     }
                 }
             }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt

@@ -7,7 +7,6 @@ import android.graphics.Color
 import android.graphics.drawable.ColorDrawable
 import android.os.Process
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
@@ -18,10 +17,9 @@ import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.temp.EventLogout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.utils.KeyBoardUtil
 import com.mogo.eagle.core.function.msgbox.MsgBoxConfig
@@ -77,7 +75,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
                     }
                     else -> {
                         // 设置自动驾驶速度
-                        val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speed)
+                        val isSuccess = CallerAutoPilotControlManager.setAutoPilotSpeed(speed)
                         when {
                             isSuccess -> {
                                 ToastUtils.showShort("车速设置成功，立即生效")
@@ -110,7 +108,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
         }
 
         if (AppConfigInfo.isConnectAutopilot) {
-            CallerAutoPilotManager.getCarConfig()
+            CallerAutoPilotControlManager.getCarConfig()
         }
 //        if (maxAcceleration > 0) {
 //            tvAcceleration.text = "加速度 $maxAcceleration m/s²"
@@ -142,7 +140,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
 
         //速度确认
         tvSureModify.setOnClickListener {
-            val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
+            val isSuccess = CallerAutoPilotControlManager.setAutoPilotSpeed(speedLimit)
             when {
                 isSuccess -> {
                     //速度显示

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt

@@ -8,7 +8,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
@@ -85,7 +85,7 @@ class AutoPilotStatusView constructor(
             AutopilotControlParameters.AutoPilotLonLat(26.819716071924688, 112.57715442110867)
         currentAutopilot.vehicleType = 10
 
-        CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+        CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
     }
 
     /**

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt

@@ -9,7 +9,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.hmi.R
@@ -68,7 +68,7 @@ class CheckSystemView @JvmOverloads constructor(
                         else {
                             //确认重启
                             CallerLogger.d("$M_HMI$TAG", "reboot confirm")
-                            CallerAutoPilotManager.setIPCReboot()
+                            CallerAutoPilotControlManager.setIPCReboot()
                         }
                     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt

@@ -5,12 +5,12 @@ import android.graphics.Color
 import android.util.AttributeSet
 import android.view.Gravity
 import android.widget.FrameLayout
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import mogo.telematics.pad.MessagePad
 import java.util.*
 
 /**
@@ -29,7 +29,7 @@ class SpeedPanelView @JvmOverloads constructor(
 
     var mContext: Context
     var mSpeedChartView: SpeedChartView
-    var mLatLng: MessagePad.GnssInfo? = null
+    var mLatLng: MogoLocation? = null
     var mSpeedLimit = 60
 
     private val timer by lazy {
@@ -77,7 +77,7 @@ class SpeedPanelView @JvmOverloads constructor(
         timer.schedule(task, Date(), 200)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLatLng = gnssInfo
         }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java

@@ -24,7 +24,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.mofang.MfConstants;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -351,7 +351,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击C ← 向左变道 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
                     }
                 }
                 return true;
@@ -372,7 +372,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击D → 向右变道 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
                     }
                 }
                 return true;
@@ -384,14 +384,14 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 长按E 鸣笛 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
                         if (timerHorn == null) {
                             timerHorn = new Timer();
                         }
                         timerHorn.schedule(new TimerTask() {
                             @Override
                             public void run() {
-                                CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
                                 timerHorn = null;
                             }
                         }, 500);
@@ -404,7 +404,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
                     }
                 }
                 return true;
@@ -425,7 +425,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 timerAcc.schedule(new TimerTask() {
                     @Override
                     public void run() {
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
                     }
                 }, 0, 500);
             }
@@ -434,7 +434,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 timerAcc.cancel();
                 timerAcc = null;
             }
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
         }
     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java

@@ -20,13 +20,12 @@ import android.widget.FrameLayout;
 import androidx.annotation.Nullable;
 
 import com.alibaba.android.arouter.launcher.ARouter;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -300,7 +299,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     isCombinationKey = false;
                     if ((pressCUpTime - startPressTime) < 300) {
                         ToastUtils.showShort("方块 单击C ← 向左变道 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
                     }
                 }
                 return true;
@@ -318,7 +317,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     isCombinationKey = false;
                     if ((pressDUpTime - startPressTime) < 300) {
                         ToastUtils.showShort("方块 单击D → 向右变道 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
                     }
                 }
 
@@ -329,14 +328,14 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     if (!isCombinationKey) {
                         if ((pressEDownTime - startPressTime) > 1900) {
                             ToastUtils.showShort("方块 长按E 鸣笛 ");
-                            CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
                             if (timerHorn == null) {
                                 timerHorn = new Timer();
                             }
                             timerHorn.schedule(new TimerTask() {
                                 @Override
                                 public void run() {
-                                    CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                    CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
                                     timerHorn = null;
                                 }
                             }, 500);
@@ -348,7 +347,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     isCombinationKey = false;
                     if ((pressEUpTime - startPressTime) < 300) {
                         ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
-                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
                     }
                 }
 
@@ -372,7 +371,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                 timerAcc.schedule(new TimerTask() {
                     @Override
                     public void run() {
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
                     }
                 }, 0, 500);
             }
@@ -381,7 +380,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                 timerAcc.cancel();
                 timerAcc = null;
             }
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
         }
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java

@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.business;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.enums.DataSourceType;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
@@ -13,8 +14,6 @@ import java.util.Objects;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 限速
  *
@@ -24,7 +23,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
 
     private final static String TAG = "SpeedLimitDataManager";
     private static volatile SpeedLimitDataManager instance;
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
 
     private SpeedLimitDataManager() {
     }
@@ -41,7 +40,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         mLocation = gnssInfo;
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt

@@ -8,16 +8,18 @@ import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.zhidaoauto.map.operational.open.GatherApi
 import com.zhidaoauto.map.operational.open.GatherParams
 import com.zhidaoauto.map.operational.open.abs.OnTaskListener
-import mogo.telematics.pad.MessagePad.GnssInfo
 import record_cache.RecordPanelOuterClass
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.CopyOnWriteArrayList
@@ -168,14 +170,14 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
         }
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
         executor.get()?.updateLocation(
             location.longitude,
             location.latitude,
             location.altitude,
-            location.bearing,
-            location.speed,
+            location.heading.toFloat(),
+            location.gnssSpeed,
             false)
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java

@@ -5,6 +5,7 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener;
@@ -65,7 +66,7 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.kt

@@ -8,9 +8,10 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
-import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.CenterLine
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
@@ -19,13 +20,12 @@ import com.mogo.eagle.core.function.business.SpeedLimitDataManager
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showBrakeLight
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showTurnLight
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
-import com.mogo.eagle.core.function.datacenter.location.IMoGoLocationListener
-import com.mogo.eagle.core.function.datacenter.location.MoGoLocationManager
 import com.mogo.eagle.core.function.overview.InfStructureManager
 import com.mogo.eagle.core.function.overview.InfStructureManager.savePlanningData
 import com.mogo.eagle.core.function.overview.obtainViewModel
@@ -54,7 +54,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         MapView,
         IMoGoMapFragmentProvider,
         IMoGoSkinModeChangeListener,
-        IMoGoLocationListener,
+        IMoGoChassisLocationWGS84Listener,
         IMoGoPlanningRottingListener,
         IMoGoChassisLamplightListener {
 
@@ -114,7 +114,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         // 添加换肤监听
         CallerSkinModeListenerManager.addListener(Companion.functionName, this)
         CallerPlanningRottingListenerManager.addListener(Companion.functionName, this)
-        MoGoLocationManager.addListener(Companion.functionName, this)
+        CallerChassisLocationWGS84ListenerManager.addListener(Companion.functionName, this)
         CallerChassisLamplightListenerManager.addListener(Companion.functionName, this)
     }
 
@@ -218,7 +218,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
     override fun onDestroyView() {
         CallerSkinModeListenerManager.removeListener(Companion.functionName)
         CallerPlanningRottingListenerManager.removeListener(Companion.functionName)
-        MoGoLocationManager.removeListener(Companion.functionName)
+        CallerChassisLocationWGS84ListenerManager.removeListener(Companion.functionName)
         CallerChassisLamplightListenerManager.removeListener(Companion.functionName)
 
         if (mMogoMapView != null) {
@@ -346,8 +346,8 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
     private var isShowTurnLight = false
     private var brakeLight = -1
 
-    override fun onLocationChanged(gnssInfo: MessagePad.GnssInfo,sourceType: DataSourceType) {
-        // 跟新地图控件
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
+        // 更新地图控件
         mMogoMapView?.setExtraGPSData(gnssInfo)
 
         if (gnssInfo != null) {
@@ -364,6 +364,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         }
     }
 
+
     override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
         //can数据转发  转向灯状态 0是正常 1是左转 2是右转
         if (lightSwitch != null) {

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/view/OverMapView.kt

@@ -19,9 +19,10 @@ import com.amap.api.maps.model.*
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.Infrastructure
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.getGlobalPath
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showVideoDialog
@@ -83,7 +84,7 @@ class OverMapView @JvmOverloads constructor(
     // 绘制轨迹线的集合
     private val textureList: MutableList<BitmapDescriptor?> = ArrayList()
     private val texIndexList: MutableList<Int> = ArrayList()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
     private var isFirstLocation = true
     var mCustomMapStyleOptions: CustomMapStyleOptions? = null
     var currMarkerList: ArrayList<Marker>? = null
@@ -493,7 +494,7 @@ class OverMapView @JvmOverloads constructor(
      *
      * @param location
      */
-    private fun drawCarMarker(location: MessagePad.GnssInfo?) {
+    private fun drawCarMarker(location: MogoLocation?) {
         if (location == null) return
         if (mCarMarker != null) {
             val currentLatLng = LatLng(location.latitude, location.longitude)
@@ -568,7 +569,7 @@ class OverMapView @JvmOverloads constructor(
         }
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         mLocation = gnssInfo
         lonLat = Pair(gnssInfo!!.longitude, gnssInfo.latitude)
         drawCarMarker(gnssInfo)

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java

@@ -31,6 +31,7 @@ import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.Infrastructure;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
@@ -92,7 +93,7 @@ public class AMapCustomView
     private List<BitmapDescriptor> textureList = new ArrayList<>();
     private List<Integer> texIndexList = new ArrayList<>();
 
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
     private boolean isFirstLocation = true;
     CustomMapStyleOptions mCustomMapStyleOptions;
 
@@ -456,7 +457,7 @@ public class AMapCustomView
      *
      * @param location
      */
-    private void drawCarMarker(MessagePad.GnssInfo location) {
+    private void drawCarMarker(MogoLocation location) {
         if (location == null) return;
         if (mCarMarker != null) {
             LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
@@ -534,7 +535,7 @@ public class AMapCustomView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         mLocation = gnssInfo;
         MarkerDrawerManager.INSTANCE.setLonLat(new Pair(gnssInfo.getLongitude(), gnssInfo.getLatitude()));
         drawCarMarker(gnssInfo);

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/OverviewMapFragment.java

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.function.overview.InfStructureManager;
@@ -117,7 +117,7 @@ public class OverviewMapFragment extends BaseFragment
     public void onActivityCreated(@Nullable Bundle savedInstanceState) {
         super.onActivityCreated(savedInstanceState);
         // 主动查一次全局路径规划的数据
-        CallerAutoPilotManager.INSTANCE.getGlobalPath();
+        CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
         queryV2XEvents();
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java

@@ -32,6 +32,7 @@ import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.map.R;
@@ -47,8 +48,6 @@ import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 小地图的方向View
  *
@@ -75,7 +74,7 @@ public class SmallMapDirectionView
     private Polyline mPolyline;
     private CameraUpdate mCameraUpdate;
     private Context mContext;
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
 
     public SmallMapDirectionView(Context context) {
         this(context, null);
@@ -179,7 +178,7 @@ public class SmallMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java

@@ -17,7 +17,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.map.R;
@@ -143,7 +143,7 @@ public class SmallMapFragment extends BaseFragment
             clearPolyline();
         }else if (tempStatus  == 1 && autoPilotStatus == 0){
             CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
-            CallerAutoPilotManager.INSTANCE.getGlobalPath();
+            CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
         }
         autoPilotStatus = tempStatus;
     }

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt

@@ -29,9 +29,9 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.analytics.AnalyticsManager
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
@@ -46,7 +46,6 @@ import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.rousetime.android_startup.AndroidStartup
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
-import mogo.telematics.pad.MessagePad.GnssInfo
 
 class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
@@ -293,10 +292,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                 CallerChassisLocationGCJ20ListenerManager.addListener(
                     TAG,
                     object : IMoGoChassisLocationGCJ02Listener {
-
-                        override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
-                            CallerMapLocationListenerManager.getCurrentLocation()?.let { loc ->
-                                MogoLocationInfoServices.getInstance().provideLocation(loc)
+                        override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+                            mogoLocation?.let {
+                                MogoLocationInfoServices.getInstance().provideLocation(mogoLocation)
                             }
                         }
                     },

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt

@@ -1,47 +1,53 @@
 package com.mogo.eagle.core.function.v2x.events
 
-import android.content.*
-import android.os.*
-import android.util.*
-import androidx.localbroadcastmanager.content.*
-import com.mogo.cloud.passport.*
+import android.content.Context
+import android.content.Intent
+import android.os.Handler
+import android.os.Looper
+import android.util.Log
+import androidx.localbroadcastmanager.content.LocalBroadcastManager
+import com.mogo.cloud.passport.IMoGoTokenCallback
+import com.mogo.cloud.passport.MoGoAiCloudClient
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.HostConst
 import com.mogo.commons.module.ServiceConst.CARD_TYPE_ROAD_CONDITION
-import com.mogo.eagle.core.data.enums.EventTypeEnumNew
-import com.mogo.eagle.core.data.enums.EventTypeHelper
-import com.mogo.commons.network.*
+import com.mogo.commons.network.ParamsUtil
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
-import com.mogo.eagle.core.data.enums.*
-import com.mogo.eagle.core.data.map.*
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew
+import com.mogo.eagle.core.data.enums.EventTypeHelper
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
-import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
-import com.mogo.eagle.core.data.traffic.*
-import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.api.hmi.warning.*
-import com.mogo.eagle.core.function.api.map.listener.*
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.function.call.hmi.*
-import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.v2x.events.alarm.*
-import com.mogo.eagle.core.function.v2x.events.bridge.*
+import com.mogo.eagle.core.function.v2x.events.alarm.V2XAlarmServer
+import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi.context
-import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.*
-import com.mogo.eagle.core.function.v2x.events.manager.*
-import com.mogo.eagle.core.function.v2x.events.receiver.*
-import com.mogo.eagle.core.function.v2x.events.scenario.impl.*
-import com.mogo.eagle.core.function.v2x.events.utils.*
-import com.mogo.eagle.core.function.v2x.events.utils.MapUtils
+import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_EXTRA_KEY
+import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_HANDLER_ACTION
+import com.mogo.eagle.core.function.v2x.events.receiver.SceneBroadcastReceiver
+import com.mogo.eagle.core.function.v2x.events.scenario.impl.V2XScenarioManager
+import com.mogo.eagle.core.function.v2x.events.utils.TrackUtils
+import com.mogo.eagle.core.function.v2x.events.utils.toRoadMarker
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.config.V2XConfig
@@ -51,27 +57,35 @@ import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.road.V2XEventServiceApi
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
-import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.utilcode.util.Utils
-import com.mogo.map.marker.*
+import com.mogo.map.marker.IMogoMarker
+import com.mogo.map.marker.IMogoMarkerClickListener
 import com.mogo.map.marker.MogoMarkersHandler.Companion.mogoMarkersHandler
-import com.shuyu.gsyvideoplayer.*
-import com.shuyu.gsyvideoplayer.cache.*
-import com.shuyu.gsyvideoplayer.model.*
-import com.shuyu.gsyvideoplayer.player.*
-import com.shuyu.gsyvideoplayer.utils.*
-import com.zhjt.service.chain.*
+import com.shuyu.gsyvideoplayer.GSYVideoManager
+import com.shuyu.gsyvideoplayer.cache.CacheFactory
+import com.shuyu.gsyvideoplayer.cache.ProxyCacheManager
+import com.shuyu.gsyvideoplayer.model.VideoOptionModel
+import com.shuyu.gsyvideoplayer.player.IjkPlayerManager
+import com.shuyu.gsyvideoplayer.player.PlayerFactory
+import com.shuyu.gsyvideoplayer.utils.GSYVideoType
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
-import kotlinx.coroutines.*
-import kotlinx.coroutines.android.*
-import mogo.telematics.pad.MessagePad.GnssInfo
-import tv.danmaku.ijk.media.player.*
-import java.util.concurrent.*
-import java.util.concurrent.atomic.*
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.android.asCoroutineDispatcher
+import kotlinx.coroutines.cancel
+import kotlinx.coroutines.launch
+import tv.danmaku.ijk.media.player.IjkMediaPlayer
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicBoolean
 
 
 object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, IV2XCallback {
@@ -188,7 +202,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
         return null
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
         BridgeApi.location.set(location)
         if (V2XManager.hasInit()) {
@@ -208,7 +222,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
             val min = if (EventTypeEnumNew.isCloudSocketEvent(v2XRoadEventEntity.poiType)) 0 else 5
             CallerLogger.d(
                 "$M_V2X$TAG",
-                "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.speed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
+                "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.gnssSpeed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
             )
             if (distance >= min) {
                 CallerLogger.d(

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java

@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.v2x.events.alarm;
 
-import android.util.Log;
-
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.MarkerLocation;
@@ -51,7 +49,7 @@ public class V2XAlarmServer {
                     if (poiLocation == null) {
                         continue;
                     }
-                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getBearing())) {
+                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getHeading())) {
                         iterator.remove();
                     }
                 }
@@ -75,7 +73,7 @@ public class V2XAlarmServer {
                                 }
                             }
                             // 2、道路事件方向与当前行驶方向角度偏差《20度以内
-                            double carBearing = currentLocation.getBearing();
+                            double carBearing = currentLocation.getHeading();
                             double eventBearing = eventLocation.getAngle();
                             double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
                             Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
@@ -86,7 +84,7 @@ public class V2XAlarmServer {
                                         currentLocation.getLatitude(),
                                         eventLocation.getLon(),
                                         eventLocation.getLat(),
-                                        (int) currentLocation.getBearing()
+                                        (int) currentLocation.getHeading()
                                 );
 
                                 Logger.d(TAG, "eventAngle:" + eventAngle);

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/remove/MarkerRemoveManager.kt

@@ -4,13 +4,14 @@ import android.os.Handler
 import android.os.HandlerThread
 import android.util.Log
 import com.mogo.cloud.commons.utils.CoordinateUtils
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.map.marker.IMogoMarker
 import com.mogo.map.overlay.IMogoPolyline
 import kotlinx.coroutines.Runnable
-import mogo.telematics.pad.MessagePad.GnssInfo
-import java.util.LinkedList
+import java.util.*
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicReference
@@ -83,7 +84,7 @@ object MarkerRemoveManager {
                 }
                 Log.d(TAG, "--- checkTask --- 3 ---")
                 val toRemove = toRemoveMakers.iterator()
-                val carLoc = AtomicReference<GnssInfo>()
+                val carLoc = AtomicReference<MogoLocation>()
                 while (toRemove.hasNext()) {
                     val marker = toRemove.next()
                     if (carLoc.get() == null) {

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt

@@ -45,7 +45,7 @@ class V2XAiRoadEventMarker {
                 if (polygons.size > 0) {
                     val l2 = entity.noveltyInfo?.location ?: return
                     v2xLocation.set(MogoLocation().also {
-                        it.longitude = l2.lon; it.latitude = l2.lat; it.bearing = l2.angle.toFloat()
+                        it.longitude = l2.lon; it.latitude = l2.lat; it.heading = l2.angle
                     })
 
                     val options = MogoPolylineOptions()

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java

@@ -7,8 +7,11 @@ import android.text.Spannable;
 import android.text.SpannableStringBuilder;
 import android.text.style.ForegroundColorSpan;
 import android.util.Log;
+
 import androidx.annotation.Nullable;
+
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
 import com.mogo.eagle.core.data.msgbox.MsgBoxType;
@@ -19,14 +22,13 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.impl.AbsV2XScenario;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+
 import java.math.BigDecimal;
 import java.util.Locale;
 import java.util.concurrent.TimeUnit;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author liujing
  * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
@@ -128,7 +130,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChas
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         sV2XWarningMarker.onCarLocationChanged2(gnssInfo);
     }
 

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java

@@ -3,32 +3,33 @@ package com.mogo.eagle.core.function.v2x.events.scenario.scene.warning;
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
+
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.MogoStatusManager;
+import com.mogo.commons.utils.Trigonometric;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.data.v2x.DrawLineInfo;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
-import com.mogo.eagle.core.data.v2x.DrawLineInfo;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoPersonWarnPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoStopPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoWarnPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
+import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation;
+import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.overlay.IMogoPolyline;
-import com.mogo.commons.utils.Trigonometric;
-import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation;
-import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
+
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
-import mogo.telematics.pad.MessagePad;
 
 /**
  * @author liujing
@@ -52,7 +53,7 @@ public class V2XWarningMarker implements IV2XMarker {
      * */
     private MogoLatLng middleLocationInStopLine = new MogoLatLng(0, 0);
     private static long showTime = 6000;
-    private float bearing;
+    private double bearing;
     private boolean hasStopLines = false;
 
     @Override
@@ -75,7 +76,7 @@ public class V2XWarningMarker implements IV2XMarker {
         if (location == null) {
             return;
         }
-        bearing = location.getBearing();
+        bearing = location.getHeading();
 
         if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null) {
             hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
@@ -428,7 +429,7 @@ public class V2XWarningMarker implements IV2XMarker {
     }
 
     //线随车动
-    public void onCarLocationChanged2(MessagePad.GnssInfo latLng) {
+    public void onCarLocationChanged2(MogoLocation latLng) {
         carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
         if (MogoStatusManager.getInstance().isVrMode() && !isSelfLineClear) {
             if (mCloundWarningInfo != null) {

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/map/MogoLocation.java

@@ -1,17 +1,12 @@
 package com.mogo.eagle.core.data.map;
 
-import android.os.Parcel;
-import android.os.Parcelable;
+import mogo.telematics.pad.MessagePad;
 
-public class MogoLocation implements Cloneable, Parcelable {
+public class MogoLocation implements Cloneable {
+
+    private MessagePad.GnssInfo gnssInfo = MessagePad.GnssInfo.newBuilder().build();
     private int locType = 0;
-    private double latitude = 0;
-    private double longitude = 0;
-    private double altitude = 0;
-    private long time = 0;
-    private float bearing = 0;
     private float accuracy = 0;
-    private float speed = 0;
     private String cityName = "";
     private String cityCode = "";
     private String provider = "";
@@ -22,29 +17,45 @@ public class MogoLocation implements Cloneable, Parcelable {
     private String locationDetail = "";
     private String poiName = "";
     private String aoiName = "";
-    private int errCode = 0;
-    private String errInfo = "";
     private String street = "";
     private String streetNum = "";
     private String description = "";
     private String buildingId = "";
     private String floor = "";
+    private int errorCode = 0;
+    private String errorInfo = "";
     private int gpsAccuracyStatus = 0;
     private int satellite = 0;
 
-    public float getBearing() {
-        return bearing;
+    // 记录最后一次收到的时间戳，ms，用于计算是否要切换GPS数据源
+    private long lastReceiveTime;
+
+    public MessagePad.GnssInfo getGnssInfo() {
+        return gnssInfo;
     }
 
-    public void setBearing( float bearing ) {
-        this.bearing = bearing;
+    public void setGnssInfo(MessagePad.GnssInfo gnssInfo) {
+        this.gnssInfo = gnssInfo;
+    }
+
+    public double getHeading() {
+        if (gnssInfo != null) {
+            return gnssInfo.getHeading();
+        }
+        return 0;
+    }
+
+    public void setHeading(double bearing) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setHeading(bearing).build();
+        }
     }
 
     public float getAccuracy() {
         return accuracy;
     }
 
-    public void setAccuracy( float accuracy ) {
+    public void setAccuracy(float accuracy) {
         this.accuracy = accuracy;
     }
 
@@ -52,23 +63,41 @@ public class MogoLocation implements Cloneable, Parcelable {
         return provider;
     }
 
-    public void setProvider( String provider ) {
+    public void setProvider(String provider) {
         this.provider = provider;
     }
 
-    public float getSpeed() {
-        return speed;
+    public float getGnssSpeed() {
+        if (gnssInfo != null) {
+            return (float) gnssInfo.getGnssSpeed();
+        }
+        return 0;
     }
 
-    public void setSpeed( float speed ) {
-        this.speed = speed;
+    public void setGnssSpeed(float speed) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setGnssSpeed(speed).build();
+        }
+    }
+
+    public float getAcceleration() {
+        if (gnssInfo != null) {
+            return (float) gnssInfo.getAcceleration();
+        }
+        return 0;
+    }
+
+    public void setAcceleration(double acceleration) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setAcceleration(acceleration).build();
+        }
     }
 
     public String getLocationDetail() {
         return locationDetail;
     }
 
-    public void setLocationDetail( String locationDetail ) {
+    public void setLocationDetail(String locationDetail) {
         this.locationDetail = locationDetail;
     }
 
@@ -76,7 +105,7 @@ public class MogoLocation implements Cloneable, Parcelable {
         return poiName;
     }
 
-    public void setPoiName( String poiName ) {
+    public void setPoiName(String poiName) {
         this.poiName = poiName;
     }
 
@@ -84,24 +113,24 @@ public class MogoLocation implements Cloneable, Parcelable {
         return aoiName;
     }
 
-    public void setAoiName( String aoiName ) {
+    public void setAoiName(String aoiName) {
         this.aoiName = aoiName;
     }
 
-    public int getErrCode() {
-        return errCode;
+    public int getErrorCode() {
+        return errorCode;
     }
 
-    public void setErrCode( int errCode ) {
-        this.errCode = errCode;
+    public void setErrorCode(int errorCode) {
+        this.errorCode = errorCode;
     }
 
-    public String getErrInfo() {
-        return errInfo;
+    public String getErrorInfo() {
+        return errorInfo;
     }
 
-    public void setErrInfo( String errInfo ) {
-        this.errInfo = errInfo;
+    public void setErrorInfo(String errorInfo) {
+        this.errorInfo = errorInfo;
     }
 
     public String getStreet() {
@@ -116,7 +145,7 @@ public class MogoLocation implements Cloneable, Parcelable {
         return streetNum;
     }
 
-    public void setStreetNum( String streetNum ) {
+    public void setStreetNum(String streetNum) {
         this.streetNum = streetNum;
     }
 
@@ -124,7 +153,7 @@ public class MogoLocation implements Cloneable, Parcelable {
         return description;
     }
 
-    public void setDescription( String description ) {
+    public void setDescription(String description) {
         this.description = description;
     }
 
@@ -132,7 +161,7 @@ public class MogoLocation implements Cloneable, Parcelable {
         return buildingId;
     }
 
-    public void setBuildingId( String buildingId ) {
+    public void setBuildingId(String buildingId) {
         this.buildingId = buildingId;
     }
 
@@ -140,7 +169,7 @@ public class MogoLocation implements Cloneable, Parcelable {
         return floor;
     }
 
-    public void setFloor( String floor ) {
+    public void setFloor(String floor) {
         this.floor = floor;
     }
 
@@ -148,7 +177,7 @@ public class MogoLocation implements Cloneable, Parcelable {
         return gpsAccuracyStatus;
     }
 
-    public void setGpsAccuracyStatus( int gpsAccuracyStatus ) {
+    public void setGpsAccuracyStatus(int gpsAccuracyStatus) {
         this.gpsAccuracyStatus = gpsAccuracyStatus;
     }
 
@@ -156,24 +185,151 @@ public class MogoLocation implements Cloneable, Parcelable {
         return satellite;
     }
 
-    public void setSatellite( int satellite ) {
+    public void setSatellite(int satellite) {
         this.satellite = satellite;
     }
 
     public MogoLocation() {
     }
 
+    public double getAltitude() {
+        if (gnssInfo != null) {
+            return gnssInfo.getAltitude();
+        }
+        return 0;
+    }
+
+    public void setAltitude(double altitude) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setAltitude(altitude).build();
+        }
+    }
+
+    public String getAddress() {
+        return address;
+    }
+
+    public void setAddress(String address) {
+        this.address = address;
+    }
+
+    public String getDistrict() {
+        return district;
+    }
+
+    public void setDistrict(String district) {
+        this.district = district;
+    }
+
+    public String getProvince() {
+        return province;
+    }
+
+    public void setProvince(String province) {
+        this.province = province;
+    }
+
+    public String getAdCode() {
+        return adCode;
+    }
+
+    public void setAdCode(String adCode) {
+        this.adCode = adCode;
+    }
+
+    public int getLocType() {
+        return locType;
+    }
+
+    public void setLocType(int locType) {
+        this.locType = locType;
+    }
+
+    public double getLatitude() {
+        if (gnssInfo != null) {
+            return gnssInfo.getLatitude();
+        }
+        return 0;
+    }
+
+    public void setLatitude(double latitude) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setLatitude(latitude).build();
+        }
+    }
+
+    public double getLongitude() {
+        if (gnssInfo != null) {
+            return gnssInfo.getLongitude();
+        }
+        return 0;
+    }
+
+    public void setLongitude(double longitude) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setLongitude(longitude).build();
+        }
+    }
+
+    public long getSatelliteTime() {
+        if (gnssInfo != null) {
+            return (long) gnssInfo.getSatelliteTime();
+        }
+        return 0;
+    }
+
+    public void setSatelliteTime(long time) {
+        if (gnssInfo != null) {
+            gnssInfo = gnssInfo.toBuilder().setSatelliteTime(time).build();
+        }
+    }
+
+    public String getCityCode() {
+        return cityCode;
+    }
+
+    public void setCityCode(String cityCode) {
+        this.cityCode = cityCode;
+    }
+
+    public String getCityName() {
+        return cityName;
+    }
+
+    public void setCityName(String cityName) {
+        this.cityName = cityName;
+    }
+
+
+    @Override
+    public MogoLocation clone() {
+        try {
+            return (MogoLocation) super.clone();
+        } catch (CloneNotSupportedException e) {
+            e.printStackTrace();
+        }
+        return this;
+    }
+
+    public long getLastReceiveTime() {
+        return lastReceiveTime;
+    }
+
+    public void setLastReceiveTime(long lastReceiveTime) {
+        this.lastReceiveTime = lastReceiveTime;
+    }
+
     @Override
     public String toString() {
         return "MogoLocation{" +
                 "locType=" + locType +
-                ", latitude=" + latitude +
-                ", longitude=" + longitude +
-                ", altitude=" + altitude +
-                ", time=" + time +
-                ", bearing=" + bearing +
+                ", latitude=" + getLatitude() +
+                ", longitude=" + getLongitude() +
+                ", altitude=" + getAltitude() +
+                ", time=" + getSatelliteTime() +
+                ", bearing=" + getHeading() +
                 ", accuracy=" + accuracy +
-                ", speed=" + speed +
+                ", speed=" + getGnssSpeed() +
                 ", cityName='" + cityName + '\'' +
                 ", cityCode='" + cityCode + '\'' +
                 ", provider='" + provider + '\'' +
@@ -184,8 +340,8 @@ public class MogoLocation implements Cloneable, Parcelable {
                 ", locationDetail='" + locationDetail + '\'' +
                 ", poiName='" + poiName + '\'' +
                 ", aoiName='" + aoiName + '\'' +
-                ", errCode=" + errCode +
-                ", errInfo='" + errInfo + '\'' +
+                ", errCode=" + errorCode +
+                ", errInfo='" + errorInfo + '\'' +
                 ", street='" + street + '\'' +
                 ", streetNum='" + streetNum + '\'' +
                 ", description='" + description + '\'' +
@@ -195,180 +351,4 @@ public class MogoLocation implements Cloneable, Parcelable {
                 ", satellite=" + satellite +
                 '}';
     }
-
-    public double getAltitude() {
-        return altitude;
-    }
-
-    public void setAltitude( double altitude ) {
-        this.altitude = altitude;
-    }
-
-    public String getAddress() {
-        return address;
-    }
-
-    public void setAddress( String address ) {
-        this.address = address;
-    }
-
-    public String getDistrict() {
-        return district;
-    }
-
-    public void setDistrict( String district ) {
-        this.district = district;
-    }
-
-    public String getProvince() {
-        return province;
-    }
-
-    public void setProvince( String province ) {
-        this.province = province;
-    }
-
-    public String getAdCode() {
-        return adCode;
-    }
-
-    public void setAdCode( String adCode ) {
-        this.adCode = adCode;
-    }
-
-    public int getLocType() {
-        return locType;
-    }
-
-    public void setLocType( int locType ) {
-        this.locType = locType;
-    }
-
-    public double getLatitude() {
-        return latitude;
-    }
-
-    public void setLatitude( double latitude ) {
-        this.latitude = latitude;
-    }
-
-    public double getLongitude() {
-        return longitude;
-    }
-
-    public void setLongitude( double longitude ) {
-        this.longitude = longitude;
-    }
-
-    public long getTime() {
-        return time;
-    }
-
-    public void setTime( long time ) {
-        this.time = time;
-    }
-
-    public String getCityCode() {
-        return cityCode;
-    }
-
-    public void setCityCode( String cityCode ) {
-        this.cityCode = cityCode;
-    }
-
-    public String getCityName() {
-        return cityName;
-    }
-
-    public void setCityName( String cityName ) {
-        this.cityName = cityName;
-    }
-
-    @Override
-    public MogoLocation clone() {
-        try {
-            return ( MogoLocation ) super.clone();
-        } catch ( CloneNotSupportedException e ) {
-            e.printStackTrace();
-        }
-        return this;
-    }
-
-    @Override
-    public int describeContents() {
-        return 0;
-    }
-
-    @Override
-    public void writeToParcel( Parcel dest, int flags ) {
-        dest.writeInt( this.locType );
-        dest.writeDouble( this.latitude );
-        dest.writeDouble( this.longitude );
-        dest.writeDouble( this.altitude );
-        dest.writeLong( this.time );
-        dest.writeFloat( this.bearing );
-        dest.writeFloat( this.accuracy );
-        dest.writeFloat( this.speed );
-        dest.writeString( this.cityName );
-        dest.writeString( this.cityCode );
-        dest.writeString( this.provider );
-        dest.writeString( this.address );
-        dest.writeString( this.district );
-        dest.writeString( this.province );
-        dest.writeString( this.adCode );
-        dest.writeString( this.locationDetail );
-        dest.writeString( this.poiName );
-        dest.writeString( this.aoiName );
-        dest.writeInt( this.errCode );
-        dest.writeString( this.errInfo );
-        dest.writeString( this.street );
-        dest.writeString( this.streetNum );
-        dest.writeString( this.description );
-        dest.writeString( this.buildingId );
-        dest.writeString( this.floor );
-        dest.writeInt( this.gpsAccuracyStatus );
-        dest.writeInt( this.satellite );
-    }
-
-    protected MogoLocation( Parcel in ) {
-        this.locType = in.readInt();
-        this.latitude = in.readDouble();
-        this.longitude = in.readDouble();
-        this.altitude = in.readDouble();
-        this.time = in.readLong();
-        this.bearing = in.readFloat();
-        this.accuracy = in.readFloat();
-        this.speed = in.readFloat();
-        this.cityName = in.readString();
-        this.cityCode = in.readString();
-        this.provider = in.readString();
-        this.address = in.readString();
-        this.district = in.readString();
-        this.province = in.readString();
-        this.adCode = in.readString();
-        this.locationDetail = in.readString();
-        this.poiName = in.readString();
-        this.aoiName = in.readString();
-        this.errCode = in.readInt();
-        this.errInfo = in.readString();
-        this.street = in.readString();
-        this.streetNum = in.readString();
-        this.description = in.readString();
-        this.buildingId = in.readString();
-        this.floor = in.readString();
-        this.gpsAccuracyStatus = in.readInt();
-        this.satellite = in.readInt();
-    }
-
-    public static final Parcelable.Creator< MogoLocation > CREATOR = new Parcelable.Creator< MogoLocation >() {
-        @Override
-        public MogoLocation createFromParcel( Parcel source ) {
-            return new MogoLocation( source );
-        }
-
-        @Override
-        public MogoLocation[] newArray( int size ) {
-            return new MogoLocation[size];
-        }
-    };
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
  * @date 2021/9/22 8:27 下午
  * 自动驾驶节点
  */
-interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
+interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     /**
      * 重新连接自动驾驶域控制器，指定IP地址
      *

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisGnssListener.kt

@@ -0,0 +1,18 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 车辆定位 WGS84 坐标系-高精度坐标系 数据 回调监听
+ * @author        donghongyu
+ * @date          2023/1/11 2:06 下午
+ */
+interface IMoGoChassisGnssListener {
+
+    /**
+     * 车辆定位 GCJ02 坐标系-高德坐标系 数据
+     *
+     * @param gnssInfo
+     */
+    fun onChassisGnss(gnssInfo: MessagePad.GnssInfo)
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisLocationGCJ02Listener.kt

@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import mogo.telematics.pad.MessagePad
+import com.mogo.eagle.core.data.map.MogoLocation
 
 /**
  * @author        donghongyu
@@ -14,5 +14,5 @@ interface IMoGoChassisLocationGCJ02Listener {
      *
      * @param gnssInfo
      */
-    fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?)
+    fun onChassisLocationGCJ02(mogoLocation: MogoLocation?)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisLocationWGS84Listener.kt

@@ -1,11 +1,11 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import mogo.telematics.pad.MessagePad
+import com.mogo.eagle.core.data.map.MogoLocation
 
 /**
+ * 车辆定位 WGS84 坐标系-高精度坐标系 数据 回调监听
  * @author        donghongyu
  * @date          2023/1/11 2:06 下午
- * 车辆定位 WGS84 坐标系-高精度坐标系 数据 回调监听
  */
 interface IMoGoChassisLocationWGS84Listener {
 
@@ -14,5 +14,5 @@ interface IMoGoChassisLocationWGS84Listener {
      *
      * @param gnssInfo
      */
-    fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo)
+    fun onChassisLocationWGS84(gnssInfo: MogoLocation)
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.zhjt.service.chain.ChainLog
@@ -23,12 +23,12 @@ import kotlin.random.Random
  *@date          2021/10/14 2:15 下午
  * 域控制器管理
  */
-object CallerAutoPilotManager {
+object CallerAutoPilotControlManager {
     private val TAG = "CallerAutoPilotManager"
 
-    private val providerApi: IMoGoAutopilotProvider?
+    private val providerApi: IMoGoAutopilotControlProvider?
         get() = CallerBase.getApiInstance(
-            IMoGoAutopilotProvider::class.java,
+            IMoGoAutopilotControlProvider::class.java,
             MogoServicePaths.PATH_AUTO_PILOT
         )
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt

@@ -6,9 +6,9 @@ import mogo.telematics.pad.MessagePad
 import perception.TrafficLightOuterClass
 
 /**
+ * 域控制器感知数据
  * @author xiaoyuzhou
  * @date 2021/9/30 5:48 下午
- * 域控制器感知数据
  */
 object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentifyListener>() {
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGnssListenerManager.kt

@@ -0,0 +1,27 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 车辆定位 WGS84 坐标系-高精度坐标系 数据 回调监听
+ * @author xiaoyuzhou
+ * @date 2021/9/30 5:48 下午
+ */
+object CallerChassisGnssListenerManager : CallerBase<IMoGoChassisGnssListener>() {
+
+    /**
+     * 车辆定位 WGS84 坐标系-高精度坐标系 数据
+     * @param gnssInfo
+     */
+    @Synchronized
+    fun invokeChassisGnssListener(gnssInfo: MessagePad.GnssInfo) {
+        M_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onChassisGnss(gnssInfo)
+        }
+    }
+
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ20ListenerManager.kt

@@ -1,10 +1,12 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.CoordinateTransform
-import mogo.telematics.pad.MessagePad
+import com.mogo.eagle.core.utilcode.util.TimeUtils
 
 /**
  * @author xiaoyuzhou
@@ -16,9 +18,21 @@ object CallerChassisLocationGCJ20ListenerManager : CallerBase<IMoGoChassisLocati
     val TAG = "CallerChassisLocationGCJ20ListenerManager"
 
     @Volatile
-    private var mGnssInfo: MessagePad.GnssInfo? = null
+    private var mGnssInfo: MogoLocation? = null
 
-    fun getChassisLocationGCJ02(): MessagePad.GnssInfo? {
+    /**
+     * 添加监听并指定回掉频率
+     */
+    fun addListener(
+        tag: String,
+        callBackHz: Int,
+        listener: IMoGoChassisLocationGCJ02Listener
+    ) {
+        addListener(tag, listener)
+        setListenerHz(tag, callBackHz)
+    }
+
+    fun getChassisLocationGCJ02(): MogoLocation? {
         return mGnssInfo
     }
 
@@ -27,25 +41,62 @@ object CallerChassisLocationGCJ20ListenerManager : CallerBase<IMoGoChassisLocati
      * @param gnssInfo
      */
     @Synchronized
-    fun invokeChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    fun invokeChassisLocationGCJ02(gnssInfo: MogoLocation?,sourceType: DataSourceType) {
         gnssInfo?.let {
             // 转换 WGS84-->GCJ02 坐标
-            val gcj20Location = CoordinateTransform.WGS84ToGCJ02(gnssInfo.longitude, gnssInfo.latitude)
+            val gcj20Location =
+                CoordinateTransform.WGS84ToGCJ02(gnssInfo.longitude, gnssInfo.latitude)
 
-            val gnssBuilder = gnssInfo.toBuilder()
-            gnssBuilder.longitude = gcj20Location[0]
-            gnssBuilder.latitude = gcj20Location[1]
+            gnssInfo.longitude = gcj20Location[0]
+            gnssInfo.latitude = gcj20Location[1]
 
-            this.mGnssInfo = gnssBuilder.build()
+            this.mGnssInfo = gnssInfo
 
             M_LISTENERS.forEach {
                 val tag = it.key
-                val listener = it.value
-                listener.onChassisLocationGCJ02(this.mGnssInfo)
+                // 获取数据监听需要的HZ
+                val hz = M_LISTENERS_HZ[tag]
+                if (hz != null && hz > 0) {
+                    val hzTime = (1.0 / hz.toDouble()) * 1000
+                    // 获取最后一次回调的时间
+                    val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
+                    if (hzLastSendTime != null && hzLastSendTime > 0) {
+                        // 计算是否进入下一次回调周期
+                        val nowTime = TimeUtils.getNowMills()
+                        if (nowTime - hzLastSendTime > hzTime) {
+                            syncLocationCallback(tag, it, gnssInfo, sourceType)
+                        }
+                    } else {
+                        syncLocationCallback(tag, it, gnssInfo, sourceType)
+                    }
+                } else {
+                    syncLocationCallback(tag, it, gnssInfo, sourceType)
+                }
             }
         } ?: let {
             Logger.e(TAG, "定位数据为Null")
         }
     }
 
+
+    /**
+     * 向订阅位置信息的发出定位信息
+     * @param tag
+     * @param it
+     * @param gnssInfo
+     * @param sourceType 数据来源
+     */
+    private fun syncLocationCallback(
+        tag: String,
+        it: Map.Entry<String, IMoGoChassisLocationGCJ02Listener>,
+        mogoLocation: MogoLocation,
+        sourceType: DataSourceType
+    ) {
+        // 记录最后一次回调时间
+        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
+        val listener = it.value
+        listener.onChassisLocationGCJ02(mogoLocation)
+    }
+
+
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt

@@ -1,8 +1,10 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import mogo.telematics.pad.MessagePad
+import com.mogo.eagle.core.utilcode.util.TimeUtils
 
 /**
  * @author xiaoyuzhou
@@ -12,24 +14,74 @@ import mogo.telematics.pad.MessagePad
 object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocationWGS84Listener>() {
 
     @Volatile
-    private var gnssInfo: MessagePad.GnssInfo? = null
+    private var gnssInfo: MogoLocation? = null
 
-    fun getChassisLocationWGS84(): MessagePad.GnssInfo? {
+    fun getChassisLocationWGS84(): MogoLocation? {
         return gnssInfo
     }
 
+    /**
+     * 添加监听并指定回掉频率
+     */
+    fun addListener(
+        tag: String,
+        callBackHz: Int,
+        listener: IMoGoChassisLocationWGS84Listener
+    ) {
+        addListener(tag, listener)
+        setListenerHz(tag, callBackHz)
+    }
+
+
     /**
      * 车辆定位 WGS84 坐标系-高精度坐标系 数据
      * @param gnssInfo
      */
     @Synchronized
-    fun invokeChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    fun invokeChassisLocationWGS84(gnssInfo: MogoLocation,sourceType: DataSourceType) {
         this.gnssInfo = gnssInfo
         M_LISTENERS.forEach {
             val tag = it.key
-            val listener = it.value
-            listener.onChassisLocationWGS84(gnssInfo)
+            // 获取数据监听需要的HZ
+            val hz = M_LISTENERS_HZ[tag]
+            if (hz != null && hz > 0) {
+                val hzTime = (1.0 / hz.toDouble()) * 1000
+                // 获取最后一次回调的时间
+                val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
+                if (hzLastSendTime != null && hzLastSendTime > 0) {
+                    // 计算是否进入下一次回调周期
+                    val nowTime = TimeUtils.getNowMills()
+                    if (nowTime - hzLastSendTime > hzTime) {
+                        syncLocationCallback(tag, it, gnssInfo, sourceType)
+                    }
+                } else {
+                    syncLocationCallback(tag, it, gnssInfo, sourceType)
+                }
+            } else {
+                syncLocationCallback(tag, it, gnssInfo, sourceType)
+            }
         }
     }
 
+
+    /**
+     * 向订阅位置信息的发出定位信息
+     * @param tag
+     * @param it
+     * @param gnssInfo
+     * @param sourceType 数据来源
+     */
+    private fun syncLocationCallback(
+        tag: String,
+        it: Map.Entry<String, IMoGoChassisLocationWGS84Listener>,
+        mogoLocation: MogoLocation,
+        sourceType: DataSourceType
+    ) {
+        // 记录最后一次回调时间
+        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
+        val listener = it.value
+        listener.onChassisLocationWGS84(mogoLocation)
+    }
+
+
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/base/CallerBase.kt

@@ -30,12 +30,14 @@ open class CallerBase<T : Any> {
 
     /**
      * 设置对应监听，指定Hz频率
+     * @param tag 订阅者标记
+     * @param callBackHz 订阅者想要接受的回调的hz频率
      */
-    fun setListenerHz(tag: String, hz: Int) {
+    fun setListenerHz(tag: String, callBackHz: Int) {
         if (M_LISTENERS_HZ.containsKey(tag)) {
             return
         }
-        M_LISTENERS_HZ[tag] = hz
+        M_LISTENERS_HZ[tag] = callBackHz
     }
 
     /**

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt

@@ -24,7 +24,6 @@ import com.zhidaoauto.map.sdk.open.tools.MapTools
 import kotlinx.coroutines.*
 import kotlinx.coroutines.android.asCoroutineDispatcher
 import kotlinx.coroutines.internal.synchronized
-import mogo.telematics.pad.MessagePad.GnssInfo
 import java.util.*
 import java.util.concurrent.TimeUnit
 import java.util.concurrent.TimeUnit.SECONDS
@@ -65,7 +64,7 @@ object CallerVisualAngleManager {
         val displayThreshold: Long  //最大展示时长 > 0; 表示最长展示多长时间， -1 表示，一直展示，直到触发默认视角, 0: 默认视角专用值，
     }
 
-    private val triggerLocation = AtomicReference<GnssInfo>()
+    private val triggerLocation = AtomicReference<MogoLocation>()
 
     private val distanceOfCarToStopLine = AtomicReference(0.0)
 

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationSource.java

@@ -9,7 +9,7 @@ public class MogoLocationSource extends LocationServiceProvider {
     @Override
     public float getBearing() {
         if (MogoLocationInfoServices.getInstance().getLocation() != null) {
-            return MogoLocationInfoServices.getInstance().getLocation().getBearing();
+            return (float) MogoLocationInfoServices.getInstance().getLocation().getHeading();
         }
         return 0;
     }
@@ -33,7 +33,7 @@ public class MogoLocationSource extends LocationServiceProvider {
     @Override
     public float getSpeed() {
         if (MogoLocationInfoServices.getInstance().getLocation() != null) {
-            return MogoLocationInfoServices.getInstance().getLocation().getSpeed();
+            return MogoLocationInfoServices.getInstance().getLocation().getGnssSpeed();
         }
         return 0;
     }
@@ -81,7 +81,7 @@ public class MogoLocationSource extends LocationServiceProvider {
     @Override
     public long getTime() {
         if (MogoLocationInfoServices.getInstance().getLocation() != null) {
-            return MogoLocationInfoServices.getInstance().getLocation().getTime();
+            return MogoLocationInfoServices.getInstance().getLocation().getSatelliteTime();
         }
         return 0;
     }

foudations/mogo-commons/src/main/java/com/mogo/commons/utils/LocationUtils.java

@@ -27,7 +27,7 @@ public class LocationUtils {
         double carLat = carLocal.getLatitude();
         double poiLon = pointLocal.getLon();
         double poiLat = pointLocal.getLat();
-        float carAngle = carLocal.getBearing();
+        double carAngle = carLocal.getHeading();
 
         // 计算车辆与点之间的夹角
         int diffAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(