[dev_arch_opt_3.0][fix]修正因位置回调重构造成的v2x事件不显示问题

2023-01-30 19:11:06 +08:00
parent 0b84b3855e
commit 2baf4aa785
9 changed files with 66 additions and 219 deletions
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
@@ -10,23 +10,24 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
+import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.zhidaoauto.map.operational.open.GatherApi
 import com.zhidaoauto.map.operational.open.GatherParams
 import com.zhidaoauto.map.operational.open.abs.OnTaskListener
+import mogo.telematics.pad.MessagePad.GnssInfo
 import record_cache.RecordPanelOuterClass
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.CopyOnWriteArrayList
 import java.util.concurrent.atomic.AtomicReference

@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
-class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoMapLocationListener, IMoGoTokenCallback,
+class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
    IMoGoAutopilotRecordListener {

    companion object {
@@ -52,7 +53,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,

    override fun init(context: Context?) {

-        CallerMapLocationListenerManager.addListener(TAG, this, false)
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
        CallerAutopilotRecordListenerManager.addListener(TAG, this)

        executor.set(context?.let {
@@ -74,7 +75,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,

    override fun onDestroy() {
        CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
-        CallerMapLocationListenerManager.removeListener(TAG, false)
+        CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
        CallerAutopilotRecordListenerManager.removeListener(TAG)
        executor.get()?.setOnTaskListener(null)
        listeners.clear()
@@ -170,18 +171,17 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        }
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-        location ?: return
+    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+        val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
        executor.get()?.updateLocation(
-                location.longitude,
-                location.latitude,
+            location.longitude,
+            location.latitude,
            location.altitude,
            location.bearing,
            location.speed,
-            isGps)
+            false)
    }

-
    private fun isInValidStatus(): Boolean {
        if (map.isEmpty()) {
            return true
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -24,10 +24,10 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.data.traffic.*
+import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.api.hmi.warning.*
 import com.mogo.eagle.core.function.api.map.listener.*
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.hmi.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
@@ -72,12 +72,13 @@ import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
 import kotlinx.coroutines.*
 import kotlinx.coroutines.android.*
+import mogo.telematics.pad.MessagePad.GnssInfo
 import tv.danmaku.ijk.media.player.*
 import java.util.concurrent.*
 import java.util.concurrent.atomic.*


-object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallback {
+object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, IV2XCallback {

    private const val TAG = "V2XEventManager"

@@ -87,8 +88,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private val hasInit by lazy { AtomicBoolean(false) }

-    // 记录历史行驶轨迹，用于车行驶方向计算，只保留两个数据
-    private val historyPath = arrayOfNulls<MogoLocation>(2)

    var v2xEventDisposable: Disposable? = null

@@ -120,7 +119,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun registerListener() {
        V2XManager.addCallback(this)
-        CallerMapLocationListenerManager.addListener(TAG, this, false)
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
        mogoMarkersHandler.registerMarkerClickListener(CARD_TYPE_ROAD_CONDITION,
            object : IMogoMarkerClickListener {
                override fun onMarkerClicked(marker: IMogoMarker?): Boolean {
@@ -132,7 +131,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun unRegisterListener() {
        V2XManager.removeCallback(this)
-        CallerMapLocationListenerManager.removeListener(TAG, false)
+        CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)

        mogoMarkersHandler.unregisterMarkerClickListener(CARD_TYPE_ROAD_CONDITION)
    }
@@ -206,8 +205,8 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
        V2XScenarioManager.getInstance().handlerMessage(entity)
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-        location ?: return
+    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+        val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
        BridgeApi.location.set(location)
        if (V2XManager.hasInit()) {
            V2XManager.onLocationChanged(
@@ -218,7 +217,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
        V2XOptimalRouteObserver.getInstance().update(location)
        refreshCarState(location)
    }
-
    private fun refreshCarState(location: MogoLocation) {
        V2XStatusManager.getInstance().location = location
        val v2xPolyline = BridgeApi.v2xPolyline()?.mogoPolyline
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/marker/MarkerManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/marker/MarkerManager.kt
@@ -4,12 +4,12 @@ import android.os.Handler
 import android.os.HandlerThread
 import android.util.Log
 import com.mogo.cloud.commons.utils.CoordinateUtils
-import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.marker.IMogoMarker
 import com.mogo.map.overlay.IMogoPolyline
 import kotlinx.coroutines.Runnable
+import mogo.telematics.pad.MessagePad.GnssInfo
 import java.util.LinkedList
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.atomic.AtomicBoolean
@@ -64,9 +64,9 @@ object MarkerManager {

    private val elapsedDistances by lazy { ConcurrentHashMap<MarkerWrapper, Double>() }

-    private val lastCarLocation by lazy { AtomicReference<MogoLocation>() }
+    private val lastCarLocation by lazy { AtomicReference<Pair<Double, Double>>() }

-    private val lastGpsLocation by lazy { AtomicReference<MogoLocation>() }
+    private val lastGpsLocation by lazy { AtomicReference<Pair<Double, Double>>() }

    private val checkTask = object : Runnable {

@@ -83,21 +83,22 @@ object MarkerManager {
                }
                Log.d(TAG, "--- checkTask --- 3 ---")
                val toRemove = toRemoveMakers.iterator()
-                val carLoc = AtomicReference<MogoLocation>()
+                val carLoc = AtomicReference<GnssInfo>()
                while (toRemove.hasNext()) {
                    val marker = toRemove.next()
                    if (carLoc.get() == null) {
                        carLoc.set(if (marker.coordinateType == 0) {
                            //高德坐标
-                            CallerMapLocationListenerManager.getCurrentLocation()
+                            CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
                        } else {
-                            CallerMapLocationListenerManager.getCurrentGpsLocation()
+                            //高精坐标
+                            CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
                        })
                    }
                    val currentLocation = carLoc.get()
                    val lastLocation = if (marker.coordinateType == 0) lastCarLocation.get() else lastGpsLocation.get()
                    if (currentLocation != null && lastLocation != null) {
-                        val delta = CoordinateUtils.calculateLineDistance(currentLocation.longitude, currentLocation.latitude, lastLocation.longitude, lastLocation.latitude)
+                        val delta = CoordinateUtils.calculateLineDistance(currentLocation.longitude, currentLocation.latitude, lastLocation.first, lastLocation.second)
                        Log.d(TAG, "--- checkTask --- 4 ---:delta:$delta, id:${marker.id}")
                        var elapsed = elapsedDistances[marker]
                        if (elapsed == null) {
@@ -148,14 +149,15 @@ object MarkerManager {
                    if (carLoc.get() == null) {
                        carLoc.set(if (marker.coordinateType == 0) {
                            //高德坐标
-                            CallerMapLocationListenerManager.getCurrentLocation()
+                            CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
                        } else {
-                            CallerMapLocationListenerManager.getCurrentGpsLocation()
+                            //高精坐标
+                            CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
                        })
                    }
                    val location = carLoc.get()
                    if (location != null) {
-                        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, marker.lon, marker.lat, location.bearing.toDouble())
+                        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, marker.lon, marker.lat, location.heading)
                        if (angle >= 90) {
                            iterator.remove()
                            synchronized(toRemoveMakers) {
@@ -167,8 +169,10 @@ object MarkerManager {
            } catch (t: Throwable) {
                t.printStackTrace()
            } finally {
-                lastCarLocation.set(CallerMapLocationListenerManager.getCurrentLocation())
-                lastGpsLocation.set(CallerMapLocationListenerManager.getCurrentGpsLocation())
+                val gcInfo = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
+                lastCarLocation.set((gcInfo?.longitude ?: 0.0) to (gcInfo?.latitude ?: 0.0))
+                val wgsInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                lastGpsLocation.set((wgsInfo?.longitude ?: 0.0) to (wgsInfo?.latitude ?: 0.0))
                handler.postDelayed(this, 1000)
            }
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -10,6 +10,7 @@ import com.mogo.cloud.commons.utils.*
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.v2x.events.scenario.scene.road.V2XAiRoadEventMarker
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -61,7 +62,7 @@ class AiRoadMarker {

    private val checkExpiredTask = Runnable {
        val poi = this.marker.get()
-        val car = CallerMapLocationListenerManager.getCurrentGpsLocation()
+        val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        if (poi != null && car != null) {
            val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
            if (distance < 500) {
@@ -80,7 +81,7 @@ class AiRoadMarker {
    }

    fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
-        val location = CallerMapLocationListenerManager.getCurrentGpsLocation() ?: return
+        val location = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84() ?: return
        this.marker.set(marker)
        val wrapper = MarkerWrapper(marker.id, marker.poi_lon, marker.poi_lat, 1, null, null)
        if (drawMarker) {
@@ -88,10 +89,10 @@ class AiRoadMarker {
        }
        if (drawRoadLine) {
            //施工中心点前方的自车行驶方向上300米距离
-            val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.bearing, 300f)
+            val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.heading.toFloat(), 300f)
            //施工中心点后方的自车行驶方向上300米距离
            Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
-            val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.bearing, -300f)
+            val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.heading.toFloat(), -300f)
            if (l1.points.isEmpty() || l2.points.isEmpty()) {
                Logger.d(TAG, "--- marker --- 3 --- return ----")
                return
@@ -110,7 +111,7 @@ class AiRoadMarker {
                var find: Pair<Double, Double> = Pair(centerX, centerY)
                var min = Long.MAX_VALUE
                for (p in it) {
-                    val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(centerX, centerY, p.first, p.second, location.bearing.toDouble())
+                    val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(centerX, centerY, p.first, p.second, location.heading)
                    if (angle < min) {
                        min = angle
                        find = p
@@ -122,7 +123,7 @@ class AiRoadMarker {
            Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
            if (l1 != null && l1.points.isNotEmpty()) {
                for (l in l1.points) {
-                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, (location.bearing + 180).toDouble()) < 90L) {
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, (location.heading + 180)) < 90L) {
                        points.add(l.let { MogoLatLng(it.second, it.first) })
                    }
                }
@@ -180,7 +181,7 @@ class AiRoadMarker {
    fun receive() {
        Logger.d(TAG, "receive --- 1 ---")
        val poi = this.marker.get()
-        val car = CallerMapLocationListenerManager.getCurrentGpsLocation()
+        val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
        if (poi != null && car != null) {
            val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
            Logger.d(TAG, "receive --- 2 ---:car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance")
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
@@ -17,6 +17,7 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
 import com.mogo.eagle.core.data.msgbox.MsgBoxType;
 import com.mogo.eagle.core.data.msgbox.V2XMsg;
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
@@ -31,6 +32,7 @@ import java.util.Map;
 import java.util.Objects;
 import java.util.concurrent.TimeUnit;

+import mogo.telematics.pad.MessagePad;


 /**
@@ -123,9 +125,8 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
                    EventTypeEnumNew. TYPE_SOCKET_ROAD_JINGZHI.getPoiType().equals(poiType) ||
                    EventTypeEnumNew.TYPE_SOCKET_ROAD_CONGESTION.getPoiType().equals(poiType) ||
                    EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType().equals(poiType)) {
-                MogoLocation carLocation = CallerMapLocationListenerManager.INSTANCE.getCurrentLocation();
                MarkerExploreWay noveltyInfo = content.getNoveltyInfo();
-                if (carLocation != null && noveltyInfo != null) {
+                if (noveltyInfo != null) {
                    MarkerLocation eventLocation = noveltyInfo.getLocation();
                    if (eventLocation != null) {
                        double distance = content.getDistance();