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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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51
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ20ListenerManager.kt Normal file
View File

@@ -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)
}
}