[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>
2023-01-11 19:28:34 +08:00
parent 4674124add
commit 193454cc6c
21 changed files with 351 additions and 214 deletions
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
+++ b/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
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
+++ b/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
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
+++ b/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
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/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)
    }
 }