[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>
2023-02-02 19:24:38 +08:00
parent 0a4b0be72a
commit 111940123f
107 changed files with 963 additions and 724 deletions
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/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
        )

--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
+++ b/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>() {

--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGnssListenerManager.kt
+++ b/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)
+        }
+    }
+
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ20ListenerManager.kt
+++ b/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)
+    }
+
+
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt
+++ b/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)
+    }
+
+
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/base/CallerBase.kt
+++ b/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
    }

    /**
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
+++ b/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)