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[dev_arch_opt_3.0]

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[Change]
[
1、修改底盘数据Gnss回调为定位回调
2、增加WGS84转GCJ02高德坐标系方法
3、增加底盘数据转换为GCJ02坐标系后的回调
]

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
This commit is contained in:
donghongyu
2023-01-11 19:28:34 +08:00
parent 4674124add
commit 193454cc6c
21 changed files with 351 additions and 214 deletions
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5
app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
View File

@@ -160,6 +160,11 @@ class ConfigStartUp : AndroidStartup<Boolean>() {
} else {
mapParams.setStyleMode(MapParams.MAP_STYLE_NIGHT_VR)
}
//todo 临时放在这 @梁利辉
if (AppIdentityModeUtils.isBusPassenger(FunctionBuildConfig.appIdentityMode)) {
mapParams.setShadowEnable(false)
}
MapAutoApi.init(context, mapParams)
}

37
core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
View File

@@ -42,11 +42,12 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
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.CallerChassisGnssInfoListenerManager.invokeAutopilotCarStateData
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
import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
@@ -128,7 +129,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
clientPkFileName = "sn"
)
override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) {
invokeAutopilotCarStateData(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)
if (gnssInfo != null) {
if (1 == FunctionBuildConfig.gpsProvider) {
// 同步给MAP地图
@@ -153,12 +157,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param vehicleState 数据
*/
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onVehicleState(header: MessagePad.Header, vehicleState: VehicleStateOuterClass.VehicleState?) {
if (vehicleState != null) {
@@ -196,12 +200,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
* @param vehicleState 数据
*/
@ChainLog(
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
linkCode = CHAIN_LINK_ADAS,
endpoint = PAD,
nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
paramIndexes = [0, 1],
clientPkFileName = "sn"
)
override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
if (chassisStates != null) {
@@ -503,6 +507,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
invokePNCActions(it)
}
}
/**
* 重构后的功能状态
*
@@ -512,6 +517,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
}
/**
* 清扫车指标数据
*
@@ -521,6 +527,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
}
/**
* Bag管理应答
*

12
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
View File

@@ -10,10 +10,10 @@ 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.IMoGoChassisGnssInfoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
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.CallerChassisGnssInfoListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
@@ -37,7 +37,7 @@ import java.util.*
* @since: 2022/7/12
*/
class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener,
IMoGoAutopilotRecordListener, IMoGoChassisGnssInfoListener {
IMoGoAutopilotRecordListener, IMoGoChassisLocationWGS84Listener {
companion object {
const val TAG = "AIDataCollectWindow"
@@ -117,7 +117,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
//采集结果回调监听
CallerAutopilotRecordListenerManager.addListener(this.hashCode().toString(), this)
// 添加 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.addListener(this.hashCode().toString(), this)
CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this)
//开始录制AI数据采集Bag包
CallerAutoPilotManager.recordPackage(
99,
@@ -341,7 +341,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
//注销采集结果回调监听
CallerAutopilotRecordListenerManager.removeListener(this.hashCode().toString())
// 移除 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.removeListener(this.hashCode().toString())
CallerChassisLocationWGS84ListenerManager.removeListener(this.hashCode().toString())
if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
}
@@ -353,7 +353,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
fun closeWindow()
}
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
latitude = gnssInfo?.latitude
longitude = gnssInfo?.longitude
}

12
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
View File

@@ -14,10 +14,10 @@ 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.IMoGoChassisGnssInfoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
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.CallerChassisGnssInfoListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
@@ -47,7 +47,7 @@ import java.util.*
* @since: 2022/7/13
*/
class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchListener,
IMoGoAutopilotRecordListener, IMoGoChassisGnssInfoListener {
IMoGoAutopilotRecordListener, IMoGoChassisLocationWGS84Listener {
companion object {
const val TAG = "InitiativeBadCaseWindow"
@@ -140,7 +140,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
//采集结果回调监听
CallerAutopilotRecordListenerManager.addListener(this.hashCode().toString(), this)
// 添加 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.addListener(this.hashCode().toString(), this)
CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this)
viewAudioButton.setOnClickListener {
audioStatus = !audioStatus
setAudio(audioStatus)
@@ -367,7 +367,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
//注销采集结果回调监听
CallerAutopilotRecordListenerManager.removeListener(this.hashCode().toString())
// 移除 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.removeListener(this.hashCode().toString())
CallerChassisLocationWGS84ListenerManager.removeListener(this.hashCode().toString())
if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
}
@@ -393,7 +393,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
fun closeWindow()
}
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
latitude = gnssInfo?.latitude
longitude = gnssInfo?.longitude
}

12
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
View File

@@ -17,8 +17,8 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
import com.mogo.eagle.core.data.app.AppConfigInfo
import com.mogo.eagle.core.data.msgbox.MsgBoxBean
import com.mogo.eagle.core.data.msgbox.RecordBagMsg
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssInfoListener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssInfoListenerManager
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
@@ -44,7 +44,7 @@ import java.io.File
* @since: 2022/7/17
*/
class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListener,
IMoGoChassisGnssInfoListener, CompoundButton.OnCheckedChangeListener {
IMoGoChassisLocationWGS84Listener, CompoundButton.OnCheckedChangeListener {
companion object {
const val TAG = "PassiveBadCaseWindow"
@@ -117,7 +117,7 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
"时间：${millis2String(System.currentTimeMillis(), TimeUtils.getHourMinSecondFormat())}"
tvPassiveIdentity.text = "身份：${BadCaseConfig.identity}"
// 添加 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.addListener(TAG, this)
CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
viewAudioButton.setOnClickListener {
audioStatus = !audioStatus
setAudio(audioStatus)
@@ -361,7 +361,7 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
fun hideFloatWindow() {
// 移除 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.removeListener(TAG)
CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
}
@@ -380,7 +380,7 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
fun closeWindow()
}
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
latitude = gnssInfo?.latitude
longitude = gnssInfo?.longitude
}

29
core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
View File

@@ -1,20 +1,27 @@
package com.zhjt.mogo_core_function_devatools.status.flow.rtk
import android.content.*
import android.util.*
import com.mogo.eagle.core.function.api.autopilot.*
import com.mogo.eagle.core.function.call.autopilot.*
import android.content.Context
import android.util.Log
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.CallerAutoPilotStatusListenerManager
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.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
import kotlinx.coroutines.*
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.*
import java.util.concurrent.atomic.AtomicBoolean
import java.util.concurrent.atomic.AtomicReference
internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatusListener, IMoGoChassisGnssInfoListener {
internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatusListener, IMoGoChassisLocationWGS84Listener {
companion object {
const val TAG = "RTKImpl"
}
@@ -34,7 +41,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
send(RTKStatus(getDesc(), getCode()))
CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
CallerChassisGnssInfoListenerManager.addListener(TAG, this)
CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
if (CallerAutoPilotManager.isConnected()) {
check()
}
@@ -78,7 +85,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
}
}
override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
override fun onChassisLocationWGS84(gnssInfo: GnssInfo?) {
if (isOldVersion.get()) {
if (isRTKEnabled()) {
send(RTKStatus("RTK", 0))
@@ -95,7 +102,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
private fun isRTKEnabled(): Boolean {
val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
val gnssInfo = CallerChassisGnssInfoListenerManager.getCurrentGnssInfo()
val gnssInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
return CallerAutoPilotManager.isConnected() && (
code != "EHW_RTK" &&
code != "EHW_GNSS" &&
@@ -117,6 +124,6 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
isOldVersion.set(false)
CallerLogger.d("$M_DEVA$TAG", "-- onDestroy --")
CallerAutoPilotStatusListenerManager.removeListener(TAG)
CallerChassisGnssInfoListenerManager.removeListener(TAG)
CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
}
}

8
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
View File

@@ -101,7 +101,7 @@ class DebugSettingView @JvmOverloads constructor(
) : ConstraintLayout(context, attrs, defStyleAttr),
IMoGoObuStatusListener,
IMoGoAutopilotStatusListener,
IMoGoChassisGnssInfoListener,
IMoGoChassisLocationWGS84Listener,
IMoGoMapLocationListener,
IMoGoAutopilotIdentifyListener,
IMoGoPlanningRottingListener,
@@ -198,7 +198,7 @@ class DebugSettingView @JvmOverloads constructor(
// 添加 ADAS状态 监听
CallerAutoPilotStatusListenerManager.addListener(TAG, this)
// 添加 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.addListener(TAG, this)
CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
// 添加 地图样式改变 监听
CallerMapLocationListenerManager.addListener(TAG, this, false)
// 添加 域控制器感知数据 监听
@@ -241,7 +241,7 @@ class DebugSettingView @JvmOverloads constructor(
// 移除 ADAS状态 监听
CallerAutoPilotStatusListenerManager.removeListener(TAG)
// 移除 ADAS车辆状态&定位 监听
CallerChassisGnssInfoListenerManager.removeListener(TAG)
CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
// 移除 地图样式改变 监听
CallerMapLocationListenerManager.removeListener(TAG, false)
// 移除 域控制器感知数据 监听
@@ -1973,7 +1973,7 @@ class DebugSettingView @JvmOverloads constructor(
}
}
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
mGnssInfo = gnssInfo
//实时加速度列表
ThreadUtils.runOnUiThread {

2
core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
View File

@@ -226,7 +226,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
// MogoModulePaths.addModuleFunction(new MogoModule("/driver/api", "IMoGoFunctionProvider"));
// MogoModulePaths.addModuleFunction(new MogoModule("/passenger/api", "IMoGoFunctionProvider"));
MogoModulePaths.addBaseModule(new MogoModule(MapApiPath.PATH, "CustomMapApiBuilder"));
// MogoModulePaths.addBaseModule(new MogoModule(MapApiPath.PATH, "CustomMapApiBuilder"));
// MogoModulePaths.addBaseModule(new MogoModule(V2XConst.PATH_V2X_UI, V2XConst.MODULE_NAME));
// OBU 模块

12
core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.kt
View File

@@ -9,7 +9,7 @@ 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.map.CenterLine
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssInfoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
@@ -17,7 +17,7 @@ import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
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.CallerChassisGnssInfoListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showBrakeLight
@@ -54,7 +54,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
MapView,
IMoGoMapFragmentProvider,
IMoGoSkinModeChangeListener,
IMoGoChassisGnssInfoListener,
IMoGoChassisLocationWGS84Listener,
IMoGoPlanningRottingListener,
IMoGoChassisLamplightListener {
@@ -115,7 +115,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
// 添加换肤监听
CallerSkinModeListenerManager.addListener(Companion.functionName, this)
CallerPlanningRottingListenerManager.addListener(Companion.functionName, this)
CallerChassisGnssInfoListenerManager.addListener(Companion.functionName, this)
CallerChassisLocationWGS84ListenerManager.addListener(Companion.functionName, this)
CallerChassisLamplightListenerManager.addListener(Companion.functionName, this)
}
@@ -234,7 +234,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
override fun onDestroyView() {
CallerSkinModeListenerManager.removeListener(Companion.functionName)
CallerPlanningRottingListenerManager.removeListener(Companion.functionName)
CallerChassisGnssInfoListenerManager.removeListener(Companion.functionName)
CallerChassisLocationWGS84ListenerManager.removeListener(Companion.functionName)
CallerChassisLamplightListenerManager.removeListener(Companion.functionName)
if (mMogoMapView != null) {
@@ -361,7 +361,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
private var isShowTurnLight = false
private var brakeLight = -1
override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
if (gnssInfo != null) {
//设置刹车信息
if (gnssInfo.acceleration < SharedPrefsMgr.getInstance(Utils.getApp()).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5f)) {

18
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisGnssInfoListener.kt
View File

@@ -1,18 +0,0 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.telematics.pad.MessagePad
/**
*@author xiaoyuzhou
*@date 2021/11/2 2:06 下午
* 车辆定位 数据 数据 回调监听
*/
interface IMoGoChassisGnssInfoListener {
/**
* 车辆状态&定位 数据
*
* @param gnssInfo
*/
fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?)
}

18
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisLocationGCJ02Listener.kt Normal file
View File

@@ -0,0 +1,18 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.telematics.pad.MessagePad
/**
* @author donghongyu
* @date 2023/1/11 2:06 下午
* 车辆定位 GCJ02 坐标系-高德坐标系 数据 回调监听
*/
interface IMoGoChassisLocationGCJ02Listener {
/**
* 车辆定位 GCJ02 坐标系-高德坐标系 数据
*
* @param gnssInfo
*/
fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?)
}

18
core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisLocationWGS84Listener.kt Normal file
View File

@@ -0,0 +1,18 @@
package com.mogo.eagle.core.function.api.autopilot
import mogo.telematics.pad.MessagePad
/**
* @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 {
/**
* 车辆定位 WGS84 坐标系-高精度坐标系 数据
*
* @param gnssInfo
*/
fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?)
}

51
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ20ListenerManager.kt Normal file
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@@ -0,0 +1,51 @@
package com.mogo.eagle.core.function.call.autopilot
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
/**
* @author xiaoyuzhou
* @date 2021/9/30 5:48 下午
* 车辆定位 WGS84 坐标系-高精度坐标系 数据 回调监听
*/
object CallerChassisLocationGCJ20ListenerManager : CallerBase<IMoGoChassisLocationGCJ02Listener>() {
val TAG = "CallerChassisLocationGCJ20ListenerManager"
@Volatile
private var mGnssInfo: MessagePad.GnssInfo? = null
fun getChassisLocationGCJ02(): MessagePad.GnssInfo? {
return mGnssInfo
}
/**
* 车辆定位 WGS84 坐标系-高精度坐标系 数据
* @param gnssInfo
*/
@Synchronized
fun invokeChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
gnssInfo?.let {
// 转换 WGS84-->GCJ02 坐标
val gcj20Location = CoordinateTransform.WGS84ToGCJ02(gnssInfo.longitude, gnssInfo.latitude)
val gnssBuilder = gnssInfo.toBuilder()
gnssBuilder.longitude = gcj20Location[0]
gnssBuilder.latitude = gcj20Location[1]
this.mGnssInfo = gnssBuilder.build()
M_LISTENERS.forEach {
val tag = it.key
val listener = it.value
listener.onChassisLocationGCJ02(this.mGnssInfo)
}
} ?: let {
Logger.e(TAG, "定位数据为Null")
}
}
}

14
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisGnssInfoListenerManager.kt → core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt
View File

@@ -1,34 +1,34 @@
package com.mogo.eagle.core.function.call.autopilot
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssInfoListener
import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
import com.mogo.eagle.core.function.call.base.CallerBase
import mogo.telematics.pad.MessagePad
/**
* @author xiaoyuzhou
* @date 2021/9/30 5:48 下午
* 车辆状态&定位 数据 数据 回调监听
* 车辆定位 WGS84 坐标系-高精度坐标系 数据 回调监听
*/
object CallerChassisGnssInfoListenerManager : CallerBase<IMoGoChassisGnssInfoListener>() {
object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocationWGS84Listener>() {
@Volatile
private var gnssInfo: MessagePad.GnssInfo? = null
fun getCurrentGnssInfo(): MessagePad.GnssInfo? {
fun getChassisLocationWGS84(): MessagePad.GnssInfo? {
return gnssInfo
}
/**
* 车辆状态数据 回调
* 车辆定位 WGS84 坐标系-高精度坐标系 数据
* @param gnssInfo
*/
@Synchronized
fun invokeAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
fun invokeChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
this.gnssInfo = gnssInfo
M_LISTENERS.forEach {
val tag = it.key
val listener = it.value
listener.onAutopilotCarStateData(gnssInfo)
listener.onChassisLocationWGS84(gnssInfo)
}
}

153
core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CoordinateTransform.java Normal file
View File

@@ -0,0 +1,153 @@
package com.mogo.eagle.core.utilcode.util;
/**
*
* -----------------------------------------------------------------------------------------
* 坐标系 |解释 |使用地图
* -----------------------------------------------------------------------------------------
* WGS84 |地球坐标系，国际上通用的坐标系。设备一般包含GPS芯片或者北斗芯片获取 |GPS/谷歌地图卫星
* |的经纬度为WGS84地理坐标系,最基础的坐标，谷歌地图在非中国地区使用的坐标系 |
* -----------------------------------------------------------------------------------------
* GCJ02 |火星坐标系，是由中国国家测绘局制订的地理信息系统的坐标系统。 |腾讯(搜搜)地图，
* |并要求在中国使用的地图产品使用的都必须是加密后的坐标， |阿里云地图，高德地图，
* |而这套WGS84加密后的坐标就是gcj02。 |谷歌国内地图
* -----------------------------------------------------------------------------------------
* BD09 |百度坐标系，百度在GCJ02的基础上进行了二次加密， |百度地图
* |官方解释是为了进一步保护用户隐私（我差点就信了） |
* -----------------------------------------------------------------------------------------
* 小众坐标系 |类似于百度地图，在GCJ02基础上使用自己的加密算法进行二次加密的坐标系 |搜狗地图、图吧地图 等
* -----------------------------------------------------------------------------------------
* 墨卡托坐标 |墨卡托投影以整个世界范围，赤道作为标准纬线，本初子午线作为中央经线，
* |两者交点为坐标原点，向东向北为正，向西向南为负。
* |南北极在地图的正下、上方，而东西方向处于地图的正右、左。
*
* 你可以通过这个工具类将上述坐标系进行互相转换。
*
* 百度地图地图投影采用的依然是Web Mercator投影，地图瓦片的切片规则遵循TMS标准，瓦片坐标原点在经纬度为0的附近，
* 但却做了一定的偏移处理，经测算此偏移量约为（-865，15850），
* 即地图瓦片（0, 0）是从Web Mercator投影坐标系的（-865，15850）点开始的。
*
* 顺便提供百度地图的地图等级从18级到1级
* 18级，1个像素代表1米，17级，1个像素代表2米，16级代表4米，依此类推
* Author: kong
*/
public class CoordinateTransform {
private static double x_PI = 3.14159265358979324 * 3000.0 / 180.0;
private static double PI = 3.1415926535897932384626;
private static double a = 6378245.0;
private static double ee = 0.00669342162296594323;
/**
* 百度坐标系 (BD-09) 与 火星坐标系 (GCJ-02)的转换
* 即 百度 转 谷歌、高德
*
* @param bd_lon
* @param bd_lat
* @return Double[lon, lat]
*/
public static Double[] BD09ToGCJ02(Double bd_lon, Double bd_lat) {
double x = bd_lon - 0.0065;
double y = bd_lat - 0.006;
double z = Math.sqrt(x * x + y * y) - 0.00002 * Math.sin(y * x_PI);
double theta = Math.atan2(y, x) - 0.000003 * Math.cos(x * x_PI);
Double[] arr = new Double[2];
arr[0] = z * Math.cos(theta);
arr[1] = z * Math.sin(theta);
return arr;
}
/**
* 火星坐标系 (GCJ-02) 与百度坐标系 (BD-09) 的转换
* 即谷歌、高德 转 百度
*
* @param gcj_lon
* @param gcj_lat
* @return Double[lon, lat]
*/
public static Double[] GCJ02ToBD09(Double gcj_lon, Double gcj_lat) {
double z = Math.sqrt(gcj_lon * gcj_lon + gcj_lat * gcj_lat) + 0.00002 * Math.sin(gcj_lat * x_PI);
double theta = Math.atan2(gcj_lat, gcj_lon) + 0.000003 * Math.cos(gcj_lon * x_PI);
Double[] arr = new Double[2];
arr[0] = z * Math.cos(theta) + 0.0065;
arr[1] = z * Math.sin(theta) + 0.006;
return arr;
}
/**
* WGS84转GCJ02
*
* @param wgs_lon
* @param wgs_lat
* @return Double[lon, lat]
*/
public static Double[] WGS84ToGCJ02(Double wgs_lon, Double wgs_lat) {
if (outOfChina(wgs_lon, wgs_lat)) {
return new Double[]{wgs_lon, wgs_lat};
}
double dlat = transformlat(wgs_lon - 105.0, wgs_lat - 35.0);
double dlng = transformlng(wgs_lon - 105.0, wgs_lat - 35.0);
double radlat = wgs_lat / 180.0 * PI;
double magic = Math.sin(radlat);
magic = 1 - ee * magic * magic;
double sqrtmagic = Math.sqrt(magic);
dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * PI);
dlng = (dlng * 180.0) / (a / sqrtmagic * Math.cos(radlat) * PI);
Double[] arr = new Double[2];
arr[0] = wgs_lon + dlng;
arr[1] = wgs_lat + dlat;
return arr;
}
/**
* GCJ02转WGS84
*
* @param gcj_lon
* @param gcj_lat
* @return Double[lon, lat]
*/
public static Double[] GCJ02ToWGS84(Double gcj_lon, Double gcj_lat) {
if (outOfChina(gcj_lon, gcj_lat)) {
return new Double[]{gcj_lon, gcj_lat};
}
double dlat = transformlat(gcj_lon - 105.0, gcj_lat - 35.0);
double dlng = transformlng(gcj_lon - 105.0, gcj_lat - 35.0);
double radlat = gcj_lat / 180.0 * PI;
double magic = Math.sin(radlat);
magic = 1 - ee * magic * magic;
double sqrtmagic = Math.sqrt(magic);
dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * PI);
dlng = (dlng * 180.0) / (a / sqrtmagic * Math.cos(radlat) * PI);
double mglat = gcj_lat + dlat;
double mglng = gcj_lon + dlng;
return new Double[]{gcj_lon * 2 - mglng, gcj_lat * 2 - mglat};
}
private static Double transformlat(double lng, double lat) {
double ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * Math.sqrt(Math.abs(lng));
ret += (20.0 * Math.sin(6.0 * lng * PI) + 20.0 * Math.sin(2.0 * lng * PI)) * 2.0 / 3.0;
ret += (20.0 * Math.sin(lat * PI) + 40.0 * Math.sin(lat / 3.0 * PI)) * 2.0 / 3.0;
ret += (160.0 * Math.sin(lat / 12.0 * PI) + 320 * Math.sin(lat * PI / 30.0)) * 2.0 / 3.0;
return ret;
}
private static Double transformlng(double lng, double lat) {
double ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * Math.sqrt(Math.abs(lng));
ret += (20.0 * Math.sin(6.0 * lng * PI) + 20.0 * Math.sin(2.0 * lng * PI)) * 2.0 / 3.0;
ret += (20.0 * Math.sin(lng * PI) + 40.0 * Math.sin(lng / 3.0 * PI)) * 2.0 / 3.0;
ret += (150.0 * Math.sin(lng / 12.0 * PI) + 300.0 * Math.sin(lng / 30.0 * PI)) * 2.0 / 3.0;
return ret;
}
/**
* outOfChina
*
* @param lng
* @param lat
* @return {boolean}
* @描述: 判断是否在国内，不在国内则不做偏移
*/
private static boolean outOfChina(Double lng, Double lat) {
return (lng < 72.004 || lng > 137.8347) || ((lat < 0.8293 || lat > 55.8271) || false);
}
}

25
libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMapApiBuilder.java
View File

@@ -1,25 +0,0 @@
package com.mogo.map;
import android.content.Context;
import com.alibaba.android.arouter.facade.template.IProvider;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.uicontroller.IMogoMapUIController;
/**
* @author congtaowang
* @since 2020/12/9
*
* 地图实例构建
*/
public interface IMogoMapApiBuilder extends IProvider {
IMogoLocationClient getLocationClient( Context context );
IMogoMapUIController getMapUIController();
void destroy();
IMogoMapView getMapView( Context context );
}

68
libraries/mogo-map/src/main/java/com/mogo/map/CustomMapApiBuilder.java
View File

@@ -2,13 +2,11 @@ package com.mogo.map;
import android.content.Context;
import com.alibaba.android.arouter.facade.annotation.Route;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.mogo.map.location.ALocationClient;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.uicontroller.AMapUIController;
import com.mogo.map.uicontroller.IMogoMapUIController;
import com.zhidaoauto.map.sdk.open.view.MapAutoView;
/**
* @author congtaowang
@@ -16,66 +14,40 @@ import com.zhidaoauto.map.sdk.open.view.MapAutoView;
* <p>
* 描述
*/
@Route(path = MapApiPath.PATH)
public class CustomMapApiBuilder implements IMogoMapApiBuilder {
public class CustomMapApiBuilder {
private static final String TAG = "CustomMapApiBuilder";
@Override
private static CustomMapApiBuilder sApiBuilder;
private static CustomMapApiBuilder getApiBuilder() {
if (sApiBuilder == null) {
synchronized (CustomMapApiBuilder.class) {
if (sApiBuilder == null) {
CallerLogger.INSTANCE.d(TAG, "init");
sApiBuilder = new CustomMapApiBuilder();
}
}
}
return sApiBuilder;
}
public IMogoLocationClient getLocationClient(Context context) {
return new ALocationClient(context);
}
@Override
public IMogoMapUIController getMapUIController() {
return AMapUIController.getInstance();
}
@Override
public IMogoMapView getMapView(Context context) {
// MapParams mapParams = MapParams.Companion.init();
// mapParams.setDebugMode(false)
// //todo 1-使用本地地图数据，0-使用在线地图数据
// //.setDataFileSource(1)
// .setCoordinateType(MapParams.COORDINATETYPE_GCJ02)
// .setPerspectiveMode(MapParams.MAP_PERSPECTIVE_3D)
// .setHDVisibileArray(new int[]{HDTypes.DIVIDER.type,
// HDTypes.ROAD_AREA.type,
// HDTypes.STOP_LINE.type,
// HDTypes.ARROW.type,
// HDTypes.STATION_BRIDGE.type,
// HDTypes.ZEBRA_LINE.type,
// HDTypes.GREEN_BELT.type,
// HDTypes.DIVERSION.type,
// HDTypes.SAFE_ISLAND.type,
// HDTypes.ALPHANUMERIC.type,
// HDTypes.GUARDBAR.type,
// HDTypes.TRAFFIC_DEVICE.type,
// HDTypes.CABLE.type,
// HDTypes.SIGNAL_LINE.type})
// // .setZoom( 20 )
// // .setPointToCenter( 0.734375f, 0.5f )
// //todo 2D模式下需要注意ADAS部分遮挡
// //.setPointToCenter(0.5f, 0.5f)
// // 根据 FunctionBuildConfig 配置的皮肤样式设置题图的样式
// .setStyleMode(FunctionBuildConfig.skinMode == 0 ? MapParams.MAP_STYLE_NIGHT_VR : MapParams.MAP_STYLE_DAY_VR);
//
// MapAutoApi.INSTANCE.init(context, mapParams);
//
MapAutoView mapAutoView = new MapAutoView(context);
//mapAutoView.registerRenderListener(l -> Log.i(TAG, "renderTime: " + l));
IMogoMapView mapView = new AMapViewWrapper(mapAutoView);
return mapView;
public static IMogoLocationClient getLocationClientDelegate(Context context) {
return getApiBuilder().getLocationClient(context);
}
@Override
public void destroy() {
public static IMogoMapUIController getMapUIControllerDelegate() {
return getApiBuilder().getMapUIController();
}
@Override
public void init(Context context) {
CallerLogger.INSTANCE.d(TAG, "init");
public static void destroy() {
}
}

4
libraries/mogo-map/src/main/java/com/mogo/map/MogoLocationClient.java
View File

@@ -2,9 +2,9 @@ package com.mogo.map;
import android.content.Context;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.location.IMogoLocationListener;
import com.mogo.eagle.core.data.map.MogoLocation;
import com.mogo.map.location.MogoLocationListenerRegister;
/**
@@ -17,7 +17,7 @@ public class MogoLocationClient implements IMogoLocationClient {
private static volatile MogoLocationClient sInstance;
public MogoLocationClient( Context context ) {
mDelegate = MogoMapDelegateFactory.getLocationClientDelegate( context );
mDelegate = CustomMapApiBuilder.getLocationClientDelegate( context );
}
public static MogoLocationClient getInstance( Context context ) {

49
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapDelegateFactory.java
View File

@@ -1,49 +0,0 @@
package com.mogo.map;
import android.content.Context;
import com.alibaba.android.arouter.launcher.ARouter;
import com.mogo.map.location.IMogoLocationClient;
import com.mogo.map.uicontroller.IMogoMapUIController;
/**
* @author congtaowang
* @since 2020/6/17
* <p>
* 描述
*/
class MogoMapDelegateFactory {
private static final String TAG = "MogoMapDelegateFactory";
private static IMogoMapApiBuilder sApiBuilder;
private static IMogoMapApiBuilder getApiBuilder() {
if (sApiBuilder == null) {
synchronized (MogoMapDelegateFactory.class) {
if (sApiBuilder == null) {
sApiBuilder = ARouter.getInstance().navigation(IMogoMapApiBuilder.class);
}
}
}
return sApiBuilder;
}
public static IMogoLocationClient getLocationClientDelegate(Context context) {
return getApiBuilder().getLocationClient(context);
}
public static IMogoMapUIController getMapUIControllerDelegate() {
return getApiBuilder().getMapUIController();
}
public static void destroy() {
getApiBuilder().destroy();
}
public static IMogoMapView getMapView(Context context) {
return getApiBuilder().getMapView(context);
}
}

2
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
View File

@@ -40,7 +40,7 @@ public class MogoMapUIController implements IMogoMapUIController {
private void initDelegate() {
if (mDelegate == null) {
mDelegate = MogoMapDelegateFactory.getMapUIControllerDelegate();
mDelegate = CustomMapApiBuilder.getMapUIControllerDelegate();
}
}

16
libraries/mogo-map/src/main/java/com/mogo/map/MogoMapView.java
View File

@@ -10,6 +10,7 @@ import android.widget.FrameLayout;
import androidx.annotation.Nullable;
import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
import com.zhidaoauto.map.sdk.open.view.MapAutoView;
/**
* @author congtaowang
@@ -33,27 +34,24 @@ public class MogoMapView extends MogoBaseMapView implements ILifeCycle {
super(context, attrs, defStyleAttr);
}
private boolean mIsVrMode = false;
private MapAutoView mapAutoView;
@Override
protected void addMapView(Context context) {
mMapView = MogoMapDelegateFactory.getMapView(context);
if (mMapView != null) {
if (mapAutoView == null) {
mapAutoView = new MapAutoView(context);
}
if (mMapView == null) {
mMapView = new AMapViewWrapper(mapAutoView);
final View mapView = mMapView.getMapView();
if (mapView != null) {
addView(mapView, new FrameLayout.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT));
} else {
CallerLogger.INSTANCE.e(TAG, "create MapView instance failed.");
}
} else {
CallerLogger.INSTANCE.e(TAG, "create IMogoMapView instance failed.");
}
}
public boolean isVrMode() {
return mIsVrMode;
}
@Override
public void onCreate(Bundle bundle) {
super.onCreate(bundle);