[dev_arch_opt_3.0]

[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>

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

@@ -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
      *

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

@@ -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
     }

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

@@ -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
     }

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

@@ -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
     }

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

@@ -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)
     }
 }

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

@@ -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 {

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

@@ -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

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

@@ -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)) {