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