Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

# Conflicts:
#	OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
#	app/src/main/AndroidManifest.xml

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/callback/IBusPassengerControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.bus.passenger.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2022/3/31
@@ -11,5 +11,5 @@ public interface IBusPassengerControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
 }

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -89,7 +89,7 @@ public class BusPassengerModel {
     private IBusPassegerDriverStatusCallback mDriverStatusCallback; //出车收车状态
     private IBusPassengerRouteLineInfoCallback mRouteLineInfoCallback; // bus路线信息更新
 
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation  mLocation = null;
 
     private BusPassengerRoutesResult routesResult = null;
 
@@ -321,7 +321,7 @@ public class BusPassengerModel {
 
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLocation = gnssInfo;
             for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java

@@ -1,5 +1,7 @@
 package com.mogo.och.bus.passenger.presenter;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+
 import android.os.Looper;
 
 import androidx.annotation.NonNull;
@@ -8,6 +10,7 @@ import androidx.lifecycle.LifecycleOwner;
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -22,10 +25,6 @@ import com.mogo.och.bus.passenger.ui.BusPassengerRouteFragment;
 
 import java.util.List;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
-
-import mogo.telematics.pad.MessagePad;
-
 /**
  * Created on 2022/3/31
  */
@@ -110,7 +109,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
         }
@@ -132,7 +131,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
     }
 
     @Override
-    public void updateStationsInfo(List<BusPassengerStation> stations, int currentStationIndex, boolean isArrived) {
+    public void updateStationsInfo(List<BusPassengerStation> stations,int currentStationIndex,boolean isArrived) {
         runOnUIThread(() -> mView.updateStationsInfo(stations,currentStationIndex, isArrived));
     }
 

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java

@@ -27,6 +27,7 @@ import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -37,8 +38,6 @@ import com.mogo.och.bus.passenger.utils.BusPassengerMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 乘客屏小地图
  */
@@ -175,7 +174,7 @@ public class BusPassengerMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java

@@ -16,7 +16,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.amap.api.maps.model.LatLng;
 import com.elegant.utils.UiThreadHandler;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.och.bus.passenger.R;
@@ -32,8 +32,6 @@ import com.mogo.och.common.module.wigets.MarqueeTextView;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/4/12
@@ -299,8 +297,8 @@ public class BusPassengerRouteFragment extends
         lastBearing = bearing;
     }
 
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
-        updateSpeedView((float) location.getVehicleSpeed());
+        updateSpeedView((float) location.getGnssSpeed());
     }
 
     public void updateSpeedView(float speed){

OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java

@@ -24,10 +24,11 @@ import com.mogo.commons.module.status.StatusDescriptor;
 import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -377,7 +378,7 @@ public class OrderModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLongitude = gnssInfo.getLongitude();
             mLatitude = gnssInfo.getLatitude();
@@ -393,7 +394,7 @@ public class OrderModel {
     };
 
     //根据围栏判断，是否到达站点
-    private void judgeArrivedStation(MessagePad.GnssInfo location) {
+    private void judgeArrivedStation(MogoLocation location) {
 
         if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
             CallerLogger.INSTANCE.e(M_BUS + TAG, "到站数组越界");
@@ -634,7 +635,7 @@ public class OrderModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
 
         CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
                 + " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
@@ -778,8 +779,8 @@ public class OrderModel {
     public void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {//收车结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false; //是否强制绘制引导线
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false");
         }
     }
@@ -861,7 +862,7 @@ public class OrderModel {
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
             } else if (backgroundCurrentStationIndex > 0 && backgroundCurrentStationIndex < stationList.size() - 1) {
                 //美化模式下 中间站点到站 引导线要一直绘制，所以此处不出强制绘制不传false
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：false（到达中间站）");
                 clearStartAutopilotTag();
             } else {
@@ -952,8 +953,8 @@ public class OrderModel {
 
     private void startBeautificationMode() {
         FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-        CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
+        CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
-        CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+        CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
     }
 
     public void clearBusStationDatas() {
@@ -992,7 +993,7 @@ public class OrderModel {
             return;
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
-        CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+        CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
 
         endTask();
     }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusControllerStatusCallback.java

@@ -2,8 +2,6 @@ package com.mogo.och.bus.callback;
 
 import com.mogo.eagle.core.data.map.MogoLocation;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * Created on 2021/9/10
  *
@@ -13,7 +11,7 @@ public interface IBusControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java

@@ -233,9 +233,9 @@ public class BusPresenter extends Presenter<BusFragment>
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
         }
     }
 

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt

@@ -1,6 +1,6 @@
 package com.mogo.och.bus.util
 
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 
@@ -31,6 +31,6 @@ object BusSendTripInfoManager{
         d(SceneConstant.M_BUS + "BusSendTripInfoManager", "type: "+ type
                 +", lineName: "+ lineName +", departureStopName: "+ departureStopName
                 + ", arrivalStopName: "+arrivalStopName+", isLastStop: "+isLastStop)
-        CallerAutoPilotManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
+        CallerAutoPilotControlManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
     }
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java

@@ -3,7 +3,7 @@ package com.mogo.och.bus.util;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.och.bus.bean.BusRoutesResult;
@@ -198,7 +198,7 @@ public class BusTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt

@@ -3,6 +3,7 @@ package com.mogo.och.common.module.biz.model
 import android.annotation.SuppressLint
 import android.content.Context
 import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
@@ -17,7 +18,6 @@ import com.mogo.och.common.module.biz.constant.TaxiLoginStatusEnum
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.network.OchCommonServiceManager
 import com.mogo.och.common.module.utils.ToastUtilsOch
-import mogo.telematics.pad.MessagePad
 
 /**
  * Created by pangfan on 2021/8/19
@@ -46,7 +46,7 @@ object OchCommonLoginModel : IMoGoChassisLocationGCJ02Listener {
         return true
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLongitude = it.longitude
             mLatitude = it.latitude

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java

@@ -192,7 +192,7 @@ public class CoordinateCalculateRouteUtil {
         for (MessagePad.Location m : models) {
             LatLng mogoLatLng = coordinateConverterWgsToGcj(mContext, m);
             MogoLocation location = new MogoLocation();
-            location.setBearing((float) m.getHeading());
+            location.setHeading((float) m.getHeading());
             location.setLatitude(mogoLatLng.latitude);
             location.setLongitude(mogoLatLng.longitude);
             list.add(location);
@@ -231,7 +231,7 @@ public class CoordinateCalculateRouteUtil {
      */
     public static Map<Integer,List<MogoLocation>> getRemainPointListByCompareNew(int preIndex,
                                                                            List<MogoLocation> mRoutePoints,
-                                                                                 MessagePad.GnssInfo  realLocation) {
+                                                                                 MogoLocation  realLocation) {
         Map<Integer,List<MogoLocation>> routePonits = new HashMap<>();
         List<MogoLocation> latePoints = new ArrayList<>(); // 剩余轨迹集合
         int currentIndex = 0; //记录疑似点
@@ -245,8 +245,8 @@ public class CoordinateCalculateRouteUtil {
             for (int i= 0; i < mRoutePoints.size(); i++){
                 MogoLocation latLng = mRoutePoints.get(i);
                 //todo 先看index对应点的方向和realLocation方向是否一致， 方向角度不能过90度
-                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
+                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getHeading() ||
-                        Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
+                        Math.abs(realLocation.getHeading() - latLng.getHeading()) <= 90){
                     float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                             realLocation.getLatitude(),
                             latLng.getLongitude(),latLng.getLatitude());
@@ -276,7 +276,7 @@ public class CoordinateCalculateRouteUtil {
     }
 
     public static int getArrivedPointIndexNew(int preIndex, List<MogoLocation> mRoutePoints,
-                                              MessagePad.GnssInfo  realLocation) {
+                                              MogoLocation  realLocation) {
         int currentIndex = 0; //记录疑似点         //基础点
         MogoLocation baseLatLng = mRoutePoints.get(0);
         float baseDiffDis = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
@@ -285,8 +285,8 @@ public class CoordinateCalculateRouteUtil {
 
         for (int i = 0; i < mRoutePoints.size(); i++) {
             MogoLocation latLng = mRoutePoints.get(i);
-            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
+            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getHeading() ||
-                    Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
+                    Math.abs(realLocation.getHeading() - latLng.getHeading()) <= 90){
             float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                     realLocation.getLatitude(),
                     latLng.getLongitude(), latLng.getLatitude());

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.sweeper.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,7 +11,7 @@ public interface ISweeperControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo  location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java

@@ -19,9 +19,10 @@ import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -273,7 +274,7 @@ public class SweeperOrderModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLongitude = gnssInfo.getLongitude();
             mLatitude = gnssInfo.getLatitude();
@@ -289,7 +290,7 @@ public class SweeperOrderModel {
     };
 
     //根据围栏判断，是否到达起点
-    private void judgeStartStation(MessagePad.GnssInfo  location) {
+    private void judgeStartStation(MogoLocation  location) {
 
         if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
             return;
@@ -390,7 +391,7 @@ public class SweeperOrderModel {
                             CallerLogger.INSTANCE.d(M_BUS + TAG, "单程真的结束了====");
                             isGoingToNextStation = false;
                             backgroundCurrentStationIndex = 0;
-                            CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+                            CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
                             querySweeperRoutes();
                         }
                     }
@@ -423,7 +424,7 @@ public class SweeperOrderModel {
             return;
         }
         isGoingToNextStation = true;
-        AIAssist.getInstance(mContext).speakTTSVoice("欢迎乘坐’蘑菇车联‘自动驾驶小巴车，请您坐好，注意乘车安全，行程即将开始");
+        AIAssist.getInstance(mContext).speakTTSVoice("欢迎乘坐’蘑菇车联‘无人驾驶小巴车，请您坐好，注意乘车安全，行程即将开始");
     }
 
     /**
@@ -467,7 +468,7 @@ public class SweeperOrderModel {
 //        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
 //                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
         CallerLogger.INSTANCE.d(M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters));
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
 
         if (mControllerStatusCallback != null) {
             mControllerStatusCallback.startOpenAutopilot();
@@ -553,7 +554,7 @@ public class SweeperOrderModel {
     private void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {//收车结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（收车）");
         }
     }
@@ -676,7 +677,7 @@ public class SweeperOrderModel {
                 && backgroundCurrentStationIndex <= stationList.size() - 1)
                 && stationList.get(backgroundCurrentStationIndex).isLeaving()) {//行驶过程中设置美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
         }
 
@@ -794,8 +795,8 @@ public class SweeperOrderModel {
             return;
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
-        CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+        CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
-        AIAssist.getInstance(mContext).speakTTSVoice("感谢您体验'蘑菇车联'自动驾驶小巴车，请您携带好随身物品，我们下次再见");
+        AIAssist.getInstance(mContext).speakTTSVoice("感谢您体验'蘑菇车联'无人驾驶小巴车，请您携带好随身物品，我们下次再见");
         leaveStation(true, true);
     }
 
@@ -819,7 +820,7 @@ public class SweeperOrderModel {
 
         if (FunctionBuildConfig.isDemoMode && backgroundCurrentStationIndex <= stationList.size() - 1) {//到达一站结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（到最后一站）");
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "到站====currentStationIndex=" + backgroundCurrentStationIndex);

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -237,9 +238,9 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
         }
     }
 

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java

@@ -27,7 +27,7 @@ import androidx.annotation.Nullable;
 import androidx.appcompat.app.AlertDialog;
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
@@ -39,7 +39,6 @@ import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 
-import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
 
@@ -942,7 +941,7 @@ public class SweeperOperatePanelView extends LinearLayout {
         // onSendCmd
         mCurrentCmdRequestCallback.onSendCmd();
         // 发送命令
-        CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
+        CallerAutoPilotControlManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
         // log发送命令
         logSweeperCmdValue(fuTianCleanCmd);
         // 开启倒计时

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java

@@ -3,7 +3,7 @@ package com.mogo.och.sweeper.util;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.och.sweeper.bean.SweeperRoutesResult;
@@ -197,7 +197,7 @@ public class SweeperTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/IOCHTaxiPassengerControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.taxi.passenger.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,5 +11,5 @@ public interface IOCHTaxiPassengerControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
 }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -32,7 +32,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.msgbox.IMsgBoxEventListener;
 import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -128,7 +128,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private int delayTime = 2;
 
     private double mLongitude, mLatitude;
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation mLocation = null;
 
     private List<MogoLocation> mLocationsModels = new ArrayList<>();
 
@@ -436,7 +436,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     }
 
     // TODO: 2021/9/12
-    public void calculateTravelDistance(MessagePad.GnssInfo carLocation){
+    public void calculateTravelDistance(MogoLocation carLocation){
         if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size()>0) {
             double endLon = mCurrentOCHOrder.endSiteGcjPoint.get(0);
             double endLat = mCurrentOCHOrder.endSiteGcjPoint.get(1);
@@ -477,7 +477,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
             if (null == gnssInfo) return;
             if (checkCurrentOCHOrder()) {
@@ -973,7 +973,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "start autopilot with parameter: %s"
                 , GsonUtil.jsonFromObject(parameters)
                         + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java

@@ -122,7 +122,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         // 速度不用展示
         // LeftMenuOpen.INSTANCE.callCallBack(-1,-1,location.getSpeed());
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -139,7 +140,7 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
     private static final long TIMEINTERVAL = 4000;
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
             long currentTimeMillis = System.currentTimeMillis();

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/OverviewFragment.kt

@@ -0,0 +1,66 @@
+package com.mogo.och.taxi.passenger.ui
+
+import android.os.Bundle
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import com.mogo.commons.mvp.BaseFragment
+import com.mogo.eagle.core.function.overview.view.OverMapView
+
+class OverviewFragment : BaseFragment() {
+
+    private var overmapview:OverMapView?=null
+
+    override fun onCreateView(
+        inflater: LayoutInflater,
+        container: ViewGroup?,
+        savedInstanceState: Bundle?
+    ): View {
+        if (overmapview == null) {
+            overmapview = OverMapView(requireContext())
+        } else {
+            val viewGroup = overmapview?.parent as ViewGroup
+            viewGroup.removeView(overmapview)
+        }
+        overmapview?.onCreateView(savedInstanceState)
+        return overmapview!!
+    }
+
+    override fun onResume() {
+        super.onResume()
+        overmapview?.onResume()
+    }
+
+    override fun onPause() {
+        super.onPause()
+        overmapview?.onPause()
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        overmapview?.onDestroy()
+    }
+
+    override fun getLayoutId(): Int {
+        return 0
+    }
+
+    override fun getTagName(): String {
+        return TAG
+    }
+
+    override fun initViews() {
+
+    }
+
+    companion object{
+        private const val TAG = "OverviewFragment"
+        @JvmStatic
+        fun newInstance(): OverviewFragment {
+            val args = Bundle()
+            val fragment = OverviewFragment()
+            fragment.arguments = args
+            return fragment
+        }
+    }
+}

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java

@@ -61,6 +61,8 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     private WeakReference<TaxiPassengerCheckView> mArrivedCheckView;
     private WeakReference<TaxiPassengerStartAutopilotView> mStartAutopilotView;
     protected TaxiPassengerServingOrderFragment ochServingOrderFragment = null;
+
+    protected OverviewFragment overviewFragment = null;
     //消息盒子
     private PassengerMsgBoxButtonView viewPassengerMsgBoxButton;
     private PassengerMsgBoxBubbleView viewPassengerMsgBoxBubble;
@@ -149,6 +151,12 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             }
             //OverlayLeftViewUtils.INSTANCE.dismissOverlayView();
         });
+        findViewById(R.id.iv_temp).setOnClickListener(view -> {
+            OverlayLeftViewUtils.INSTANCE.showOverlayView(getActivity(),0,true,-1,true);
+            //showOrHideArrivedEndLayout(true, "北京北京北京", "1527481606997577728");
+            //showOrHidePressengerCheckPager(true, "开始站点开", "开始站点开始站点开始", "2", "京A888888", "18811539480");
+            //OCHFloatWindowManager.getInstance().ShowFloatWindow(getContext());
+        });
     }
 
     private void initArrivedView() {
@@ -258,10 +266,12 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     @Subscribe(threadMode = ThreadMode.MAIN)
     public void changeOverview(UIStatus uiStatus) {
         if (uiStatus.status == UIStatus.LIVE) {
-            CallerHmiManager.INSTANCE.hideSmallFragment();
+//            CallerHmiManager.INSTANCE.hideSmallFragment();
+            showOrHideOverMapViewFragment(false);
             showOrHideServingOrderFragment(true, false);
         } else if (uiStatus.status == UIStatus.OVERVIEW) {
-            CallerHmiManager.INSTANCE.showSmallFragment();
+//            CallerHmiManager.INSTANCE.showSmallFragment();
+            showOrHideOverMapViewFragment(true);
             showOrHideServingOrderFragment(false, false);
         }
     }
@@ -281,7 +291,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
         if (isShow) {
             if (ochServingOrderFragment == null) {
-                ochServingOrderFragment = new TaxiPassengerServingOrderFragment().newInstance();
+                ochServingOrderFragment = TaxiPassengerServingOrderFragment.newInstance();
             }
             if (showOrHideLefeMenu) {
                 OverlayLeftViewUtils.INSTANCE.showOverlayView(getActivity(), 0, true, -1, true);
@@ -316,6 +326,39 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         }
     }
 
+    /**
+     * 显示或隐藏全局概览
+     *
+     * @param isShow
+     */
+    public void showOrHideOverMapViewFragment(boolean isShow) {
+        FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
+        if (isShow) {
+            if (overviewFragment == null) {
+                overviewFragment = OverviewFragment.newInstance();
+            }
+            if (overviewFragment.isHidden()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(overviewFragment).commitAllowingStateLoss();
+                return;
+            }
+            if (overviewFragment.isAdded()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(overviewFragment).commitAllowingStateLoss();
+                return;
+            }
+            transaction
+                    .setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                    .add(R.id.fl_container_overview, overviewFragment)
+                    .show(overviewFragment).commitAllowingStateLoss();
+        } else {
+            if (overviewFragment != null) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_CLOSE)
+                        .hide(overviewFragment).commitAllowingStateLoss();
+            }
+        }
+    }
+
     /**
      * 显示或者隐藏乘客可点击自动驾驶页面
      * 乘客验证成功，页面显示，按钮置于不可点击

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java

@@ -29,6 +29,7 @@ import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -39,8 +40,6 @@ import com.mogo.och.taxi.passenger.utils.TaxiPassengerMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 乘客屏小地图
  */
@@ -180,7 +179,7 @@ public class TaxiPassengerMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null){
             return;
         }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java

@@ -21,6 +21,7 @@ import androidx.fragment.app.FragmentTransaction;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.MvpFragment;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -42,8 +43,6 @@ import com.mogo.och.taxi.passenger.utils.TPRouteDataTestUtils;
 import java.util.Calendar;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/3/8
@@ -352,8 +351,8 @@ public class TaxiPassengerServingOrderFragment extends
 
     }
 
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
-        updateSpeedView((float) location.getVehicleSpeed());
+        updateSpeedView((float) location.getGnssSpeed());
     }
 
     public void onLimitingVelocityChange(int limitingVelocity) {

OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml

@@ -3,15 +3,14 @@
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
+    android:layout_height="match_parent">
-    android:layout_marginTop="@dimen/dp_72">
 
     <com.mogo.eagle.core.function.hmi.ui.widget.SteeringWheelView
         android:id="@+id/steering_wheel"
         android:layout_width="@dimen/dp_630"
         android:layout_height="@dimen/dp_630"
         android:layout_marginLeft="-59dp"
-        android:layout_marginTop="-40dp"
+        android:layout_marginTop="@dimen/dp_32"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
@@ -21,7 +20,7 @@
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
         android:layout_gravity="center_horizontal"
         android:layout_marginLeft="40dp"
-        android:layout_marginTop="48dp"
+        android:layout_marginTop="@dimen/dp_120"
         android:scaleType="fitXY"
         android:src="@drawable/taxi_p_un_auto_nor"
         android:visibility="gone"
@@ -96,6 +95,7 @@
         android:id="@+id/btnAutopilotDisable"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_72"
         android:text="模拟 不可自动驾驶"
         android:textSize="20sp"
         android:visibility="gone"
@@ -154,7 +154,7 @@
         android:id="@+id/module_mogo_och_navi_panel_container"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_120"
+        android:layout_marginTop="@dimen/dp_192"
         android:layout_marginRight="@dimen/dp_10"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
@@ -163,10 +163,15 @@
         android:id="@+id/traffic_light_view"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/taxi_p_traffic_light_layout_margin_top"
+        android:layout_marginTop="@dimen/dp_95"
         android:layout_marginRight="@dimen/taxi_p_traffic_light_layout_margin_right"
         android:visibility="gone"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <FrameLayout
+        android:id="@+id/fl_container_overview"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
 </androidx.constraintlayout.widget.ConstraintLayout>

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.taxi.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,7 +11,7 @@ public interface ITaxiControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo  location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -30,7 +30,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
@@ -133,7 +133,7 @@ public class TaxiModel {
     private int mPreRouteIndex = 0;
 
     private double mLongitude, mLatitude;
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation  mLocation = null;
 
     private LoginService loginService;
 
@@ -823,8 +823,8 @@ public class TaxiModel {
             if (FunctionBuildConfig.isDemoMode) {
                 // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                 FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
+                CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（更新本地order信息）");
             }
 
@@ -833,7 +833,7 @@ public class TaxiModel {
         if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.getCode()){
             if (FunctionBuildConfig.isDemoMode) {
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "setIPCDemoMode：false");
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             }
 
             clearAutopilotControlParameters();
@@ -870,8 +870,8 @@ public class TaxiModel {
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（已完成or清除当前订单）");
         }
     }
@@ -934,7 +934,7 @@ public class TaxiModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s",
                 GsonUtil.jsonFromObject(parameters)
                 + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
@@ -987,7 +987,7 @@ public class TaxiModel {
     //结束自动驾驶
     public void cancelAutopilot() {
         try {
-            CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+            CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "结束自动驾驶");
         } catch (Exception e) {
             e.printStackTrace();
@@ -995,7 +995,7 @@ public class TaxiModel {
     }
 
     //根据围栏判断，是否到达起点
-    private void judgeStartStation(MessagePad.GnssInfo  location) {
+    private void judgeStartStation(MogoLocation location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.startSiteGcjPoint == null
                 || mCurrentOCHOrder.startSiteGcjPoint.size() < 2) {
             return;
@@ -1054,7 +1054,7 @@ public class TaxiModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationLIstener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
             if (null == gnssInfo) return;
             if (checkCurrentOCHOrder()) {
@@ -1076,7 +1076,7 @@ public class TaxiModel {
         }
     };
 
-    private void judgeEndStation(MessagePad.GnssInfo  location) {
+    private void judgeEndStation(MogoLocation  location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.endSiteGcjPoint == null
                 || mCurrentOCHOrder.endSiteGcjPoint.size() < 2) {
             return;
@@ -1172,8 +1172,8 @@ public class TaxiModel {
                         if (FunctionBuildConfig.isDemoMode) {
                             // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
+                            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
-                            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+                            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
                             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
                         }
                     }
@@ -1243,7 +1243,7 @@ public class TaxiModel {
                 // 2022.10.08 到达目的地时候取消自动起自驾， 服务完成取消引导线和自动驾驶按钮状态
 //                FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
 //                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（到达目的地）");
             }
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -314,10 +315,10 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location){
             runOnUIThread(() -> {
-                mView.updateSpeedView((float) location.getVehicleSpeed());
+                mView.updateSpeedView((float) location.getGnssSpeed());
                 mView.updateLocation(location.getLatitude(),location.getLongitude());
             });
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiMapDirectionView.java

@@ -29,6 +29,7 @@ import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -38,8 +39,6 @@ import com.mogo.och.taxi.utils.TaxiMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * taxi司机端前往目的地小地图导航
  */
@@ -176,7 +175,7 @@ public class TaxiMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null){
             return;
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java

@@ -3,10 +3,9 @@ package com.mogo.och.taxi.utils;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
-import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
 import com.mogo.och.taxi.constant.TaxiConst;
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
@@ -201,7 +200,7 @@ public class TaxiTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -130,7 +130,7 @@ class DispatchAutoPilotManager private constructor() :
                 AutopilotControlParameters.AutoPilotLonLat(it.endLat, it.endLon)
             currentAutopilot.vehicleType = 10
             CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "开启自动驾驶====$currentAutopilot")
-            CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+            CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
         }
     }
 

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/redlightwarning/RedLightWarningManager.kt

@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP_G
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
@@ -26,7 +27,6 @@ import com.mogo.eagle.core.utilcode.util.LocationUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.zhjt.service_biz.BizConfig
-import mogo.telematics.pad.MessagePad
 import kotlin.math.abs
 import kotlin.math.ceil
 import kotlin.math.floor
@@ -44,7 +44,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
     // 是否已进入到路口(停止线处)
     private var isEnter = false
 
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
 
     companion object {
 
@@ -100,7 +100,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
         // 路口100m闯红灯预警
         mLocation?.let {
             // 单位m/s
-            val speed = it.vehicleSpeed
+            val speed = it.gnssSpeed
             // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
             CallerLogger.d("$M_V2X$TAG", "speed is:$speed")
             if (speed <= 2.5f) return// 小于等于9km/h不处理
@@ -277,7 +277,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
         CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
         }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt

@@ -3,6 +3,7 @@ package com.mogo.eagle.function.biz.v2x.trafficlight.core
 import android.content.Context
 import android.os.Handler
 import android.os.Looper
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
@@ -15,7 +16,6 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandl
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_CROSS_ROAD
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT
 import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
-import mogo.telematics.pad.MessagePad
 
 class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
@@ -30,7 +30,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
     private var mContext: Context? = null
     private val trafficLightNetWorkModel = TrafficLightNetWorkModel()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
     private var roadIDResult: RoadIDResult? = null
     private var trafficLightResult: TrafficLightResult? = null
 
@@ -174,7 +174,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
         trafficLightResult = null
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
             checkOutOfRange()

core/function-impl/mogo-core-function-datacenter/build.gradle

@@ -57,6 +57,7 @@ dependencies {
     implementation rootProject.ext.dependencies.mogoaicloudtelematic
 
     implementation rootProject.ext.dependencies.mogoobu
+    implementation rootProject.ext.dependencies.amapnavi3dmap
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         implementation rootProject.ext.dependencies.mogo_core_data

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt

@@ -4,6 +4,7 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterProvider
+import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
 
 @Route(path = MogoServicePaths.PATH_DATA_CENTER_MODULE)
 class DataCenterProvider: IDataCenterProvider {
@@ -12,7 +13,7 @@ class DataCenterProvider: IDataCenterProvider {
         get() = "DataCenterProvider"
 
     override fun init(context: Context?) {
-
+        MoGoLocationDispatcher.initListener()
     }
 
     override fun onDestroy() {

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

@@ -21,7 +21,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
@@ -67,8 +67,9 @@ import java.util.concurrent.TimeUnit
  * @date 2021/9/22 8:43 下午
  */
 @Route(path = MogoServicePaths.PATH_AUTO_PILOT)
-class MoGoAutopilotProvider :
+class MoGoAutopilotControlProvider :
-    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
+    IMoGoAutopilotControlProvider,
+    IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
     IMoGoAutopilotCarConfigListener {
     private val TAG = "MoGoAutoPilotProvider"
     private var mContext: Context? = null

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

@@ -45,8 +45,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 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.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
@@ -135,10 +133,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
             clientPkFileName = "sn"
     )
     override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
-        // WGS84坐标系高精度位置信息
+        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
-        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

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

@@ -5,7 +5,7 @@ import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -52,13 +52,13 @@ class MoGoAdasMsgConnectStatusListenerImpl :
             // 同步SN给工控机
             syncBasicInfoToAutopilot()
             //每次工控机连接成功后，需同步当前设置的美化模式状态
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             //当连接状态是关闭美化模式时，同步给工控机
             if (!FunctionBuildConfig.isDemoMode) {
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
             //每次工控机连接成功后，需同步当前设置的雨天模式状态
-            CallerAutoPilotManager.setRainMode(FunctionBuildConfig.isRainMode)
+            CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason")
             if (connectStatus) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.datacenter.autopilot.server
 
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 
 /**
@@ -26,6 +26,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
     }
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
-        CallerAutoPilotManager.sendTrafficLightData(trafficLightResult)
+        CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
 }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt

@@ -8,9 +8,9 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -174,7 +174,7 @@ class TeleMsgHandler : IMsgHandler {
 
     private fun queryCarConfig() {
         invokeNettyConnResult("乘客屏请求司机屏向工控机查询配置信息")
-        CallerAutoPilotManager.getCarConfig()
+        CallerAutoPilotControlManager.getCarConfig()
     }
 
     override fun handleClientConn2Server(channel: Channel?) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt

@@ -1,16 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import mogo.telematics.pad.MessagePad
-
-/**
- * 位置回调监听
- */
-interface IMoGoLocationListener {
-    /**
-     * 位置改变回调用
-     * @param gnssInfo 位置信息
-     * @param sourceType 数据来源
-     */
-    fun onLocationChanged(gnssInfo: MessagePad.GnssInfo, sourceType: DataSourceType)
-}

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt

@@ -0,0 +1,176 @@
+package com.mogo.eagle.core.function.datacenter.location
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.location.AMapLocationClient
+import com.amap.api.location.AMapLocationClientOption
+import com.amap.api.location.AMapLocationListener
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.CoordinateTransform
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.Utils
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
+ *
+ * @author donghongyu
+ */
+object MoGoLocationDispatcher :
+    IMoGoChassisGnssListener,
+    AMapLocationListener {
+
+    private val TAG = "MoGoLocationManager"
+
+    private var mCityCode: String? = null
+    private var mapLocation: AMapLocation? = null
+
+    /**
+     * 最后一次工控机GNSS返回更新的位置
+     */
+    private var lastGnssLocation: MogoLocation = MogoLocation()
+
+    /**
+     * 最后一次高德定位返回的位置信息
+     */
+    private var lastGaoDeLocation: MogoLocation = MogoLocation()
+
+    fun initListener() {
+        // 高德SDK隐私政策
+        AMapLocationClient.updatePrivacyShow(Utils.getApp(), true, true)
+        AMapLocationClient.updatePrivacyAgree(Utils.getApp(), true)
+
+        try {
+            val mLocationClient = AMapLocationClient(Utils.getApp())
+
+            //初始化定位参数
+            //声明mLocationOption对象
+            val mLocationOption = AMapLocationClientOption()
+            //设置定位监听
+            mLocationClient.setLocationListener(this)
+            //设置定位模式为高精度模式，Battery_Saving为低功耗模式，Device_Sensors是仅设备模式
+            mLocationOption.locationMode = AMapLocationClientOption.AMapLocationMode.Hight_Accuracy
+            //设置定位间隔,单位毫秒,默认为2000ms
+            mLocationOption.interval = 1000
+            //设置定位参数
+            mLocationClient.setLocationOption(mLocationOption)
+            // 启动定位监听
+            mLocationClient.startLocation()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+
+        // 初始化监听订阅工控机位置信息
+        CallerChassisGnssListenerManager.addListener(TAG, this)
+    }
+
+    override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
+        // 更新GNSS 信息
+        lastGnssLocation.gnssInfo = gnssInfo
+        lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            lastGnssLocation.cityName = it.city
+            lastGnssLocation.cityCode = it.cityCode
+            lastGnssLocation.provider = it.provider
+            lastGnssLocation.address = it.address
+            lastGnssLocation.district = it.district
+            lastGnssLocation.province = it.province
+            lastGnssLocation.adCode = it.adCode
+            lastGnssLocation.locationDetail = it.locationDetail
+            lastGnssLocation.poiName = it.poiName
+            lastGnssLocation.aoiName = it.aoiName
+            lastGnssLocation.street = it.street
+            lastGnssLocation.streetNum = it.streetNum
+            lastGnssLocation.description = it.description
+            lastGnssLocation.buildingId = it.buildingId
+            lastGnssLocation.floor = it.floor
+            lastGnssLocation.errorCode = it.errorCode
+            lastGnssLocation.errorInfo = it.errorInfo
+        }
+
+        // WGS84坐标系高精度位置信息
+        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+            lastGnssLocation,
+            DataSourceType.TELEMATIC
+        )
+        // GCJ02高德坐标系位置信息
+        CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+            lastGnssLocation,
+            DataSourceType.TELEMATIC
+        )
+    }
+
+    /**
+     * 高德地图位置改变回调
+     * @param aMapLocation 位置信息
+     */
+    override fun onLocationChanged(aMapLocation: AMapLocation) {
+        mapLocation = aMapLocation
+        // 更新GNSS 信息
+
+
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            // 转换 GCJ02-->WGS84 坐标
+            val wgs84Location =
+                CoordinateTransform.GCJ02ToWGS84(it.longitude, it.latitude)
+
+            lastGaoDeLocation.longitude = wgs84Location[0]
+            lastGaoDeLocation.latitude = wgs84Location[1]
+            lastGaoDeLocation.heading = it.bearing.toDouble()
+            lastGaoDeLocation.gnssSpeed = it.speed
+            lastGaoDeLocation.altitude = it.altitude
+            lastGaoDeLocation.satelliteTime = it.time
+            lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
+
+            lastGaoDeLocation.cityName = it.city
+            lastGaoDeLocation.cityCode = it.cityCode
+            lastGaoDeLocation.provider = it.provider
+            lastGaoDeLocation.address = it.address
+            lastGaoDeLocation.district = it.district
+            lastGaoDeLocation.province = it.province
+            lastGaoDeLocation.adCode = it.adCode
+            lastGaoDeLocation.locationDetail = it.locationDetail
+            lastGaoDeLocation.poiName = it.poiName
+            lastGaoDeLocation.aoiName = it.aoiName
+            lastGaoDeLocation.street = it.street
+            lastGaoDeLocation.streetNum = it.streetNum
+            lastGaoDeLocation.description = it.description
+            lastGaoDeLocation.buildingId = it.buildingId
+            lastGaoDeLocation.floor = it.floor
+            lastGaoDeLocation.errorCode = it.errorCode
+            lastGaoDeLocation.errorInfo = it.errorInfo
+        }
+
+        // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
+        if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastGaoDeLocation,
+                DataSourceType.MAP
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+                lastGaoDeLocation,
+                DataSourceType.MAP
+            )
+        }
+
+        // 本地SP缓存城市Code
+        val cityCode = aMapLocation.cityCode
+        if (cityCode != null && cityCode.isNotEmpty()) {
+            mCityCode = aMapLocation.cityCode
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+        }
+
+    }
+}

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt

@@ -1,71 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.eagle.core.utilcode.util.TimeUtils
-import com.mogo.support.obu.model.MogoObuHvBasicsData
-import mogo.telematics.pad.MessagePad
-
-/**
- * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
- *
- * @author donghongyu
- */
-object MoGoLocationManager :
-    CallerBase<IMoGoLocationListener>(),
-    IMoGoChassisLocationWGS84Listener,
-    IMoGoObuLocationWGS84Listener {
-
-    private val TAG = "MoGoLocationManager"
-
-    init {
-        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-    }
-
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
-        M_LISTENERS.forEach {
-            val tag = it.key
-            // 获取数据监听需要的HZ
-            val hz = M_LISTENERS_HZ[tag]
-            if (hz != null && hz > 0) {
-                val hzTime = (1.0 / hz.toDouble()) * 1000
-                // 获取最后一次回调的时间
-                val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
-                if (hzLastSendTime != null && hzLastSendTime > 0) {
-                    // 计算是否进入下一次回调周期
-                    val nowTime = TimeUtils.getNowMills()
-                    if (nowTime - hzLastSendTime > hzTime) {
-                        syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-                    }
-                } else {
-                    syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-                }
-            } else {
-                syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-            }
-        }
-    }
-
-    /**
-     * 向订阅位置信息的发出定位信息
-     */
-    private fun syncLocationCallback(
-        tag: String,
-        it: Map.Entry<String, IMoGoLocationListener>,
-        gnssInfo: MessagePad.GnssInfo,
-        sourceType: DataSourceType
-    ) {
-        // 记录最后一次回调时间
-        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
-        val listener = it.value
-        listener.onLocationChanged(gnssInfo, sourceType)
-    }
-
-    override fun onObuLocationWGS84(data: MogoObuHvBasicsData) {
-
-    }
-
-}

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/README.md

@@ -3,15 +3,20 @@
 ##### 位置回调：融合工控机、OBU、高德地图
 
 ```kotlin
-// 注册监听位置变换
+// 注册监听位置变换,唯一标记，要接受数据的HZ，回掉监听
-MoGoLocationManager.addListener(Companion.functionName, object : IMoGoLocationListener {
+CallerChassisLocationWGS84ListenerManager.addListener(Companion.functionName, 20,object :IMoGoChassisLocationWGS84Listener{
-    override fun onLocationChanged(
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        gnssInfo: MessagePad.GnssInfo,
-        sourceType: DataSourceType
-    ) {
         TODO("Not yet implemented")
     }
 })
 // 设置数据回调频率，单位HZ，1HZ的周期是1秒；50HZ的周期是1/50=0.02秒；10HZ的周期是1/10=0.1秒。
-MoGoLocationManager.setListenerHz(Companion.functionName, 20)
+CallerChassisLocationWGS84ListenerManager.setListenerHz(Companion.functionName, 20)
+
+// 注册监听位置变换,唯一标记，要接受数据的HZ，回掉监听
+CallerChassisLocationGCJ20ListenerManager.addListener(Companion.functionName, 20,object :IMoGoChassisLocationGCJ02Listener{
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation) {
+        TODO("Not yet implemented")
+    }
+})
+
 ```

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

@@ -10,11 +10,12 @@ 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.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+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.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+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.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -27,7 +28,6 @@ import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.util.*
 
@@ -119,7 +119,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
         // 添加 ADAS车辆状态&定位 监听
         CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this)
         //开始录制AI数据采集Bag包
-        CallerAutoPilotManager.recordPackage(
+        CallerAutoPilotControlManager.recordPackage(
             99,
             Random(SystemClock.elapsedRealtime()).nextInt(),
             20,
@@ -353,7 +353,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         latitude = gnssInfo.latitude
         longitude = gnssInfo.longitude
     }

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

@@ -11,7 +11,7 @@ import androidx.recyclerview.widget.GridLayoutManager
 import com.mogo.eagle.core.data.badcase.RecordTypeEntity
 import com.mogo.eagle.core.data.badcase.TopicEntity
 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.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -206,7 +206,7 @@ internal class BadCaseConfigView @JvmOverloads constructor(
         super.onAttachedToWindow()
         CallerAutopilotRecordListenerManager.addListener(TAG, this)
         //获取数据采集录制模式配置列表
-        CallerAutoPilotManager.getBadCaseConfig(0, 0, listOf())
+        CallerAutoPilotControlManager.getBadCaseConfig(0, 0, listOf())
         recordTypesList.add(RecordTypeEntity(0,"自定义", arrayListOf()))
     }
 

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

@@ -11,7 +11,7 @@ import androidx.recyclerview.widget.RecyclerView;
 
 import com.mogo.eagle.core.data.badcase.RecordCaseEntity;
 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.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.zhjt.mogo_core_function_devatools.R;
@@ -77,7 +77,7 @@ public class CaseListDialog extends Dialog implements IMoGoAutopilotRecordListen
         super.onAttachedToWindow();
         CallerAutopilotRecordListenerManager.INSTANCE.addListener(TAG, this);
         //获取数据采集录制模式配置列表
-        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(0, 0,new ArrayList<>());
+        CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(0, 0,new ArrayList<>());
     }
 
     @Override

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

@@ -17,7 +17,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.mogo.eagle.core.data.badcase.RecordTypeEntity;
 import com.mogo.eagle.core.data.badcase.TopicEntity;
 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.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -69,7 +69,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
         init();
         initEvent();
         //获取所有Topic
-        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
+        CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
         if (recordType != null) {
             tvCaseName.setText(recordType.getDesc());
             if (recordType.getTopicsList().size() > 0) {
@@ -160,7 +160,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
         });
         tvSave.setOnClickListener(v -> {
             if (recordType != null) {
-                Boolean success = CallerAutoPilotManager.INSTANCE.getBadCaseConfig(2, recordType.getId(), addTopicList);
+                Boolean success = CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(2, recordType.getId(), addTopicList);
                 if (Boolean.TRUE.equals(success)) {
                     ToastUtils.showShort("Topic设置成功");
                     if (recordType.getId() == 0) {

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

@@ -14,11 +14,12 @@ 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.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+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.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+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.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -35,7 +36,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.io.File
 import java.util.*
@@ -347,7 +347,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
             //开启录包
             if (recordCaseEntity != null) {
-                CallerAutoPilotManager.recordPackage(
+                CallerAutoPilotControlManager.recordPackage(
                     recordCaseEntity.caseId,
                     Random(SystemClock.elapsedRealtime()).nextInt(),
                     BadCaseConfig.totalDuration,
@@ -355,7 +355,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
                     recordCaseEntity.topicList
                 )
             } else {
-                CallerAutoPilotManager.recordPackage(
+                CallerAutoPilotControlManager.recordPackage(
                     BadCaseConfig.type, Random(SystemClock.elapsedRealtime()).nextInt(),
                     BadCaseConfig.totalDuration, BadCaseConfig.previousDuration
                 )
@@ -394,7 +394,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         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

@@ -15,6 +15,7 @@ import android.widget.TextView
 import com.google.android.flexbox.FlexboxLayout
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.RecordBagMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
@@ -34,7 +35,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
 import me.jessyan.autosize.utils.AutoSizeUtils
-import mogo.telematics.pad.MessagePad
 import org.greenrobot.eventbus.EventBus
 import java.io.File
 
@@ -380,9 +380,9 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        latitude = gnssInfo?.latitude
+        latitude = gnssInfo.latitude
-        longitude = gnssInfo?.longitude
+        longitude = gnssInfo.longitude
     }
 
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt

@@ -15,7 +15,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_FULL_LOG
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.function.api.map.deva.IMoGoMapDevaProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -220,7 +220,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
         Logger.init(LogLevel.DEBUG)
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = true
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowNetDebugLog = true
-        CallerAutoPilotManager.setEnableLog(true)
+        CallerAutoPilotControlManager.setEnableLog(true)
     }
 
     /**
@@ -230,7 +230,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
         Logger.init(if (DebugConfig.isDebug()) LogLevel.DEBUG else LogLevel.OFF)
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = false
         MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowNetDebugLog = false
-        CallerAutoPilotManager.setEnableLog(false)
+        CallerAutoPilotControlManager.setEnableLog(false)
     }
 
     override fun onError(errorCount: Int) {

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

@@ -41,7 +41,7 @@ internal class CanImpl(ctx: Context) :
     private val state: AtomicInteger by lazy { AtomicInteger(Int.MIN_VALUE) }
 
     override fun onCreate() {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(CallerAutoPilotControlManager.isConnected()))
 
         CallerChassisAccStateListenerManager.addListener(TAG, this)
         CallerChassisBrakeStateListenerManager.addListener(TAG, this)
@@ -60,7 +60,7 @@ internal class CanImpl(ctx: Context) :
 
     private fun isCanEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        return CallerAutoPilotManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
+        return CallerAutoPilotControlManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
     }
 
 

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

@@ -28,7 +28,7 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
     }
 
     private fun checkAndSend() {
-        send(IpcStatus(CallerAutoPilotManager.isConnected()))
+        send(IpcStatus(CallerAutoPilotControlManager.isConnected()))
     }
 
     override fun onDestroy() {

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

@@ -2,9 +2,10 @@ package com.zhjt.mogo_core_function_devatools.status.flow.rtk
 
 import android.content.Context
 import android.util.Log
+import com.mogo.eagle.core.data.map.MogoLocation
 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.CallerAutoPilotControlManager
 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
@@ -15,7 +16,6 @@ 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.AtomicBoolean
@@ -42,7 +42,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-        if (CallerAutoPilotManager.isConnected()) {
+        if (CallerAutoPilotControlManager.isConnected()) {
             check()
         }
     }
@@ -53,7 +53,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         }
         check?.takeIf { it.isActive }?.cancel()
         launch(Dispatchers.Unconfined) {
-            CallerAutoPilotManager.sendStatusQueryReq()
+            CallerAutoPilotControlManager.sendStatusQueryReq()
             delay(5000)
             isOldVersion.set(true)
         }.also {
@@ -74,18 +74,18 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
+        if (!CallerAutoPilotControlManager.isConnected()) {
             CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
             healthInfo.set(null)
             send(RTKStatus("", -1))
         }
 
-        if (CallerAutoPilotManager.isConnected() && check == null && !isOldVersion.get()) {
+        if (CallerAutoPilotControlManager.isConnected() && check == null && !isOldVersion.get()) {
              check()
         }
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         if (isOldVersion.get()) {
             if (isRTKEnabled()) {
                 send(RTKStatus("RTK", 0))
@@ -103,7 +103,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
     private fun isRTKEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
         val gnssInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        return CallerAutoPilotManager.isConnected() && (
+        return CallerAutoPilotControlManager.isConnected() && (
                 code != "EHW_RTK" &&
                         code != "EHW_GNSS" &&
                         code != "ESYS_RTK_STATUS_FAULT" &&

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

@@ -40,7 +40,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
+        if (!CallerAutoPilotControlManager.isConnected()) {
             old = UNKNOWN
             send(TracingStatus(UNKNOWN))
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -19,7 +19,7 @@ internal class StatusModel : ViewModel() {
 
         const val TAG = "StatusModel"
         val DEFAULTS = Pair(null, ArrayList<Status>().also {
-            it += IpcStatus(CallerAutoPilotManager.isConnected())
+            it += IpcStatus(CallerAutoPilotControlManager.isConnected())
             it += CanStatus(false)
             it += TracingStatus(UNKNOWN)
             it += RTKStatus("", -1)

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/SyncConfig.kt

@@ -7,7 +7,7 @@ import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -51,7 +51,7 @@ object SyncConfig {
             else -> {
             }
         }
-        AppConfigInfo.teleTimeStamp = CallerAutoPilotManager.getTeleTimeStamp()
+        AppConfigInfo.teleTimeStamp = CallerAutoPilotControlManager.getTeleTimeStamp()
         logOutConfig(AppConfigInfo)
     }
 

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

@@ -31,9 +31,8 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
@@ -51,7 +50,6 @@ import com.mogo.eagle.core.function.hmi.ui.setting.CameraLiveView.Companion.came
 import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
 import com.mogo.eagle.core.function.hmi.ui.setting.ToolsView.Companion.toolsView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
-import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
 import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
 import com.mogo.eagle.core.function.main.DisplayEffectsHelper
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
@@ -216,7 +214,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                         SharedPrefsMgr.getInstance(it)
                             .putLong("roadwork", System.currentTimeMillis() / 1000)
                     }
-                    CallerAutoPilotManager.sendTripInfo(5, "", "", "", false)
+                    CallerAutoPilotControlManager.sendTripInfo(5, "", "", "", false)
                 }
             }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt

@@ -12,7 +12,7 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -95,7 +95,7 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
                     holder.tvBubbleReceiveTime.text = TimeUtils.millis2String(it[position].timestamp,getHourMinFormat())
                     var resultStr = "类型："
                     for (result in reportEntity.resultList){
-                        resultStr = "${resultStr}${CallerAutoPilotManager.getReportResultDesc(result)}"
+                        resultStr = "${resultStr}${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                     }
                     holder.tvBubbleReportType.text = resultStr
                     holder.clReportLayout.setOnClickListener {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
@@ -133,7 +133,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                     var resultStr = "类型："
                     for (result in reportEntity.resultList) {
                         resultStr =
-                            "${resultStr}${CallerAutoPilotManager.getReportResultDesc(result)}"
+                            "${resultStr}${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                     }
                     holder.tvReportTypeNormal.text = resultStr
                     holder.tvReportTypeOpen.text = resultStr
@@ -141,7 +141,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                     var actionStr = ""
                     for (action in reportEntity.actionsList) {
                         actionStr =
-                            "${actionStr}${CallerAutoPilotManager.getReportActionDesc(action)}"
+                            "${actionStr}${CallerAutoPilotControlManager.getReportActionDesc(action)}"
                     }
                     holder.tvReportActionOpen.text = "建议操作：$actionStr"
                     holder.tvStatusSelect.setOnClickListener {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt

@@ -19,7 +19,7 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo
 import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo.NoticeTrafficAccountInfo
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.notice.NoticeValue
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager.bizProvider

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

@@ -38,6 +38,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.gnss.AccelerationEntity
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.autopilot.*
@@ -120,7 +121,7 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var logViewAttach = false
 
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
-    private var mGnssInfo: MessagePad.GnssInfo? = null
+    private var mGnssInfo: MogoLocation? = null
 
     private var accelerationFloatWindow: AccelerationFloatWindow? = null
     private var accelerationList = arrayListOf<AccelerationEntity>()
@@ -220,7 +221,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         Timer().schedule(timerTaskRefresh, Date(), 300)
         if (AppConfigInfo.isConnectAutopilot && (AppConfigInfo.plateNumber.isNullOrEmpty() || AppConfigInfo.iPCMacAddress.isNullOrEmpty())) {
             //查询工控机基础配置信息
-            CallerAutoPilotManager.getCarConfig()
+            CallerAutoPilotControlManager.getCarConfig()
         }
     }
 
@@ -594,10 +595,10 @@ internal class DebugSettingView @JvmOverloads constructor(
                 "demoMode",
                 DemoModeView(context)
             )
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             if (!FunctionBuildConfig.isDemoMode) {
                 //关闭美化模式时，通知工控机
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
             tbIsDrawAutopilotTrajectoryData.isEnabled = !FunctionBuildConfig.isDemoMode
             if (!FunctionBuildConfig.isDemoMode) {
@@ -615,7 +616,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
         //雨天模式
         tbIsRainMode.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setRainMode(isChecked)
+            CallerAutoPilotControlManager.setRainMode(isChecked)
             FunctionBuildConfig.isRainMode = isChecked
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
@@ -634,7 +635,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //重启工控机所有节点
         btnIpcReboot.onClick {
-            CallerAutoPilotManager.sendIpcReboot()
+            CallerAutoPilotControlManager.sendIpcReboot()
             ToastUtils.showLong("重启命令已发送")
         }
         //只在司机端设置工控机节点重启功能
@@ -773,7 +774,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         // 模拟自动驾驶中
         tbChangeAutoPilotStatus.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setControlAutopilotCarAuto(isChecked)
+            CallerAutoPilotControlManager.setControlAutopilotCarAuto(isChecked)
         }
         when {
             AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) -> {
@@ -794,7 +795,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
 
         //初始化ADAS日志开关状态
-        tbADASLog.isChecked = CallerAutoPilotManager.isEnableLog()
+        tbADASLog.isChecked = CallerAutoPilotControlManager.isEnableLog()
 
         //查看上报历史列表
         tbReportMore.setOnCheckedChangeListener { _, isChecked ->
@@ -915,7 +916,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         btnConnectServerIp.setOnClickListener {
             val ip = etConnectServerIp.text.toString()
             if (!ip.isNullOrEmpty()) {
-                CallerAutoPilotManager.connectSpecifiedServer(ip)
+                CallerAutoPilotControlManager.connectSpecifiedServer(ip)
             }
         }
 
@@ -982,7 +983,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         btnSetAutopilotIP.setOnClickListener {
             val autoPilotIp = etAutopilotIP.text.toString()
             if (autoPilotIp.isNotEmpty()) {
-                CallerAutoPilotManager.resetIpAddress(autoPilotIp)
+                CallerAutoPilotControlManager.resetIpAddress(autoPilotIp)
             } else {
                 ToastUtils.showShort("请输入正确的IP地址")
             }
@@ -990,7 +991,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //断开与工控机的连接
         btnDisconnectIpc.setOnClickListener {
-            CallerAutoPilotManager.disconnectIpc()
+            CallerAutoPilotControlManager.disconnectIpc()
         }
 
         /**
@@ -1000,32 +1001,32 @@ internal class DebugSettingView @JvmOverloads constructor(
             val recordTimeStr = etInputRecordTime.text?.toString()
             try {
                 if (recordTimeStr.isNullOrEmpty()) {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
                 val recordTime = recordTimeStr?.toInt()
                 if (recordTime != null && recordTime > 0) {
-                    CallerAutoPilotManager.recordPackage(recordTime)
+                    CallerAutoPilotControlManager.recordPackage(recordTime)
                 } else {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
             } catch (e: Exception) {
-                CallerAutoPilotManager.recordPackage()
+                CallerAutoPilotControlManager.recordPackage()
             }
         }
         btnRecordBag.onClick {
             val recordTimeStr = etInputRecordBagTime.text?.toString()
             try {
                 if (recordTimeStr.isNullOrEmpty()) {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
                 val recordTime = recordTimeStr?.toInt()
                 if (recordTime != null && recordTime > 0) {
-                    CallerAutoPilotManager.recordPackage(recordTime)
+                    CallerAutoPilotControlManager.recordPackage(recordTime)
                 } else {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                 }
             } catch (e: Exception) {
-                CallerAutoPilotManager.recordPackage()
+                CallerAutoPilotControlManager.recordPackage()
             }
         }
 
@@ -1193,9 +1194,9 @@ internal class DebugSettingView @JvmOverloads constructor(
          */
         tbADASLog.setOnCheckedChangeListener { _, isChecked ->
             if (isChecked) {
-                CallerAutoPilotManager.setEnableLog(true)
+                CallerAutoPilotControlManager.setEnableLog(true)
             } else {
-                CallerAutoPilotManager.setEnableLog(false)
+                CallerAutoPilotControlManager.setEnableLog(false)
             }
         }
 
@@ -1519,7 +1520,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tvAppVersionNameKey.text = "鹰眼版本名：${AppUtils.getAppVersionName()}"
 
         tvAutopilotProtocolVersionInfo.text =
-            "Autopilot协议版本：${CallerAutoPilotManager.getProtocolVersion()}"
+            "Autopilot协议版本：${CallerAutoPilotControlManager.getProtocolVersion()}"
         if (AppConfigInfo.protocolVersionNumber == 0) {
             tvIpcProtocolVersionInfo.text = "工控机协议版本：未知"
         } else {
@@ -1825,7 +1826,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         mGnssInfo = gnssInfo
         //实时加速度列表
         ThreadUtils.runOnUiThread {
@@ -1904,14 +1905,14 @@ internal class DebugSettingView @JvmOverloads constructor(
                 var resultStr = "result:"
                 for (result in it.resultList) {
                     resultStr =
-                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                        "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                 }
                 tvReportResult.text = resultStr
 
                 var actionStr = "action:"
                 for (action in it.actionsList) {
                     actionStr =
-                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                        "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                 }
                 tvReportActions.text = actionStr
 
@@ -2010,14 +2011,14 @@ internal class DebugSettingView @JvmOverloads constructor(
                 var resultStr = "result:"
                 for (result in it.resultList) {
                     resultStr =
-                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                        "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                 }
                 tvReportResult.text = resultStr
 
                 var actionStr = "action:"
                 for (action in it.actionsList) {
                     actionStr =
-                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                        "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                 }
                 tvReportActions.text = actionStr
                 if ("error" == it.level) {

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

@@ -6,7 +6,7 @@ import android.view.ViewGroup
 import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.hmi.R
 import me.jessyan.autosize.AutoSizeCompat
 
@@ -37,13 +37,13 @@ class IPCReportAdapter: RecyclerView.Adapter<IPCReportAdapter.IPCReportHolder>()
                 holder.tvReportTimeContent.text = it.time
                 var resultStr = "发生异常"
                 for (result in it.resultList){
-                    resultStr = "${resultStr}-${CallerAutoPilotManager.getReportResultDesc(result)}"
+                    resultStr = "${resultStr}-${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                 }
                 holder.tvReportResultContent.text = resultStr
                 holder.tvReportMsgContent.text = it.msg
                 var actionStr = ""
                 for (action in it.actionsList){
-                    actionStr = "${actionStr}-${CallerAutoPilotManager.getReportActionDesc(action)}"
+                    actionStr = "${actionStr}-${CallerAutoPilotControlManager.getReportActionDesc(action)}"
                 }
                 holder.tvReportActionContent.text = actionStr
             }

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

@@ -9,7 +9,7 @@ import android.view.ViewGroup
 import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.hmi.R
 
 /**
@@ -45,12 +45,12 @@ class ReportListAdapter(context: Context) :
                 holder.tvReportCode.text = "code:${it.code}"
                 var resultStr = "result:"
                 for (result in it.resultList) {
-                    resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                    resultStr = "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                 }
                 holder.tvReportResult.text = resultStr
                 var actionStr = "action:"
                 for (action in it.actionsList) {
-                    actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                    actionStr = "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                 }
                 holder.tvReportActions.text = actionStr
 

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

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
@@ -49,7 +49,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         //绕障类功能开关
         tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
         tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.sendDetouring(isChecked)
+            CallerAutoPilotControlManager.sendDetouring(isChecked)
             FunctionBuildConfig.isDetouring = isChecked
         }
 
@@ -161,10 +161,10 @@ internal class SOPSettingView @JvmOverloads constructor(
         tbDemoMode.setOnCheckedChangeListener { _, _ ->
             FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
             CallerHmiManager.updateStatusBarLeftView(FunctionBuildConfig.isDemoMode, "demoMode", DemoModeView(context))
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             if (!FunctionBuildConfig.isDemoMode) {
                 //关闭美化模式时，通知工控机
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
         }
         //只在司机端设置美化模式开关功能
@@ -177,7 +177,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         tbRainMode.isChecked = FunctionBuildConfig.isRainMode
         //雨天模式
         tbRainMode.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setRainMode(isChecked)
+            CallerAutoPilotControlManager.setRainMode(isChecked)
             FunctionBuildConfig.isRainMode = isChecked
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
@@ -227,7 +227,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
         btnSpeedSet.setOnClickListener {
             val isSuccess =
-                CallerAutoPilotManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
+                CallerAutoPilotControlManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
             if (isSuccess == true) {
                 ToastUtils.showShort("变道绕障的目标障碍物速度阈值设置成功")
             } else {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/switch/DemoModeHiddenSwitch.kt

@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.View
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
@@ -25,10 +25,10 @@ class DemoModeHiddenSwitch(context: Context, attrs: AttributeSet?) : View(contex
                         "demoMode",
                         DemoModeView(context)
                     )
-                    CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+                    CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
                     if (!FunctionBuildConfig.isDemoMode) {
                         //关闭美化模式时，通知工控机
-                        CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                        CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
                     }
                 }
             }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt

@@ -7,7 +7,6 @@ import android.graphics.Color
 import android.graphics.drawable.ColorDrawable
 import android.os.Process
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
@@ -18,10 +17,9 @@ import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.temp.EventLogout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.utils.KeyBoardUtil
 import com.mogo.eagle.core.function.msgbox.MsgBoxConfig
@@ -77,7 +75,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
                     }
                     else -> {
                         // 设置自动驾驶速度
-                        val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speed)
+                        val isSuccess = CallerAutoPilotControlManager.setAutoPilotSpeed(speed)
                         when {
                             isSuccess -> {
                                 ToastUtils.showShort("车速设置成功，立即生效")
@@ -110,7 +108,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
         }
 
         if (AppConfigInfo.isConnectAutopilot) {
-            CallerAutoPilotManager.getCarConfig()
+            CallerAutoPilotControlManager.getCarConfig()
         }
 //        if (maxAcceleration > 0) {
 //            tvAcceleration.text = "加速度 $maxAcceleration m/s²"
@@ -142,7 +140,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
 
         //速度确认
         tvSureModify.setOnClickListener {
-            val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
+            val isSuccess = CallerAutoPilotControlManager.setAutoPilotSpeed(speedLimit)
             when {
                 isSuccess -> {
                     //速度显示

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt

@@ -8,7 +8,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
@@ -85,7 +85,7 @@ class AutoPilotStatusView constructor(
             AutopilotControlParameters.AutoPilotLonLat(26.819716071924688, 112.57715442110867)
         currentAutopilot.vehicleType = 10
 
-        CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+        CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
     }
 
     /**

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt

@@ -9,7 +9,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.hmi.R
@@ -68,7 +68,7 @@ class CheckSystemView @JvmOverloads constructor(
                         else {
                             //确认重启
                             CallerLogger.d("$M_HMI$TAG", "reboot confirm")
-                            CallerAutoPilotManager.setIPCReboot()
+                            CallerAutoPilotControlManager.setIPCReboot()
                         }
                     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt

@@ -5,12 +5,12 @@ import android.graphics.Color
 import android.util.AttributeSet
 import android.view.Gravity
 import android.widget.FrameLayout
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import mogo.telematics.pad.MessagePad
 import java.util.*
 
 /**
@@ -29,7 +29,7 @@ class SpeedPanelView @JvmOverloads constructor(
 
     var mContext: Context
     var mSpeedChartView: SpeedChartView
-    var mLatLng: MessagePad.GnssInfo? = null
+    var mLatLng: MogoLocation? = null
     var mSpeedLimit = 60
 
     private val timer by lazy {
@@ -77,7 +77,7 @@ class SpeedPanelView @JvmOverloads constructor(
         timer.schedule(task, Date(), 200)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLatLng = gnssInfo
         }

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

@@ -24,7 +24,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.mofang.MfConstants;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -351,7 +351,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击C ← 向左变道 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
                     }
                 }
                 return true;
@@ -372,7 +372,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击D → 向右变道 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
                     }
                 }
                 return true;
@@ -384,14 +384,14 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 长按E 鸣笛 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
                         if (timerHorn == null) {
                             timerHorn = new Timer();
                         }
                         timerHorn.schedule(new TimerTask() {
                             @Override
                             public void run() {
-                                CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
                                 timerHorn = null;
                             }
                         }, 500);
@@ -404,7 +404,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
                         }
-                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
                     }
                 }
                 return true;
@@ -425,7 +425,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 timerAcc.schedule(new TimerTask() {
                     @Override
                     public void run() {
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
                     }
                 }, 0, 500);
             }
@@ -434,7 +434,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 timerAcc.cancel();
                 timerAcc = null;
             }
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
         }
     }
 

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

@@ -20,13 +20,12 @@ import android.widget.FrameLayout;
 import androidx.annotation.Nullable;
 
 import com.alibaba.android.arouter.launcher.ARouter;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -300,7 +299,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     isCombinationKey = false;
                     if ((pressCUpTime - startPressTime) < 300) {
                         ToastUtils.showShort("方块 单击C ← 向左变道 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
                     }
                 }
                 return true;
@@ -318,7 +317,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     isCombinationKey = false;
                     if ((pressDUpTime - startPressTime) < 300) {
                         ToastUtils.showShort("方块 单击D → 向右变道 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
                     }
                 }
 
@@ -329,14 +328,14 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     if (!isCombinationKey) {
                         if ((pressEDownTime - startPressTime) > 1900) {
                             ToastUtils.showShort("方块 长按E 鸣笛 ");
-                            CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
                             if (timerHorn == null) {
                                 timerHorn = new Timer();
                             }
                             timerHorn.schedule(new TimerTask() {
                                 @Override
                                 public void run() {
-                                    CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                    CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
                                     timerHorn = null;
                                 }
                             }, 500);
@@ -348,7 +347,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                     isCombinationKey = false;
                     if ((pressEUpTime - startPressTime) < 300) {
                         ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
-                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
                     }
                 }
 
@@ -372,7 +371,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                 timerAcc.schedule(new TimerTask() {
                     @Override
                     public void run() {
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
                     }
                 }, 0, 500);
             }
@@ -381,7 +380,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                 timerAcc.cancel();
                 timerAcc = null;
             }
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
         }
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java

@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.business;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.enums.DataSourceType;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
@@ -13,8 +14,6 @@ import java.util.Objects;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 限速
  *
@@ -24,7 +23,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
 
     private final static String TAG = "SpeedLimitDataManager";
     private static volatile SpeedLimitDataManager instance;
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
 
     private SpeedLimitDataManager() {
     }
@@ -41,7 +40,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         mLocation = gnssInfo;
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt

@@ -8,16 +8,18 @@ import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 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.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 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
@@ -168,14 +170,14 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
         }
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
         executor.get()?.updateLocation(
             location.longitude,
             location.latitude,
             location.altitude,
-            location.bearing,
+            location.heading.toFloat(),
-            location.speed,
+            location.gnssSpeed,
             false)
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java

@@ -5,6 +5,7 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener;
@@ -65,7 +66,7 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

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

@@ -8,10 +8,10 @@ import com.alibaba.android.arouter.facade.annotation.Route
 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.enums.DataSourceType
 import com.mogo.eagle.core.data.map.CenterLine
+import com.mogo.eagle.core.data.map.MogoLocation
 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.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
@@ -19,29 +19,21 @@ import com.mogo.eagle.core.function.business.SpeedLimitDataManager
 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.CallerChassisLamplightListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showBrakeLight
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showTurnLight
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
-import com.mogo.eagle.core.function.datacenter.location.IMoGoLocationListener
-import com.mogo.eagle.core.function.datacenter.location.MoGoLocationManager
-import com.mogo.eagle.core.function.overview.InfStructureManager
-import com.mogo.eagle.core.function.overview.InfStructureManager.savePlanningData
-import com.mogo.eagle.core.function.overview.obtainViewModel
-import com.mogo.eagle.core.function.overview.vm.OverViewModel
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.map.IMogoMap
 import com.mogo.map.MogoMapView
 import com.mogo.map.uicontroller.IMogoMapUIController
 import com.zhidaoauto.map.sdk.open.MapAutoApi
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
-import mogo.telematics.pad.MessagePad
 
 /**
  * @author donghongyu
@@ -54,8 +46,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         MapView,
         IMoGoMapFragmentProvider,
         IMoGoSkinModeChangeListener,
-        IMoGoLocationListener,
+        IMoGoChassisLocationWGS84Listener,
-        IMoGoPlanningRottingListener,
         IMoGoChassisLamplightListener {
 
     private var mMogoMapView: MogoMapView? = null
@@ -113,8 +104,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         }
         // 添加换肤监听
         CallerSkinModeListenerManager.addListener(Companion.functionName, this)
-        CallerPlanningRottingListenerManager.addListener(Companion.functionName, this)
+        CallerChassisLocationWGS84ListenerManager.addListener(Companion.functionName, this)
-        MoGoLocationManager.addListener(Companion.functionName, this)
         CallerChassisLamplightListenerManager.addListener(Companion.functionName, this)
     }
 
@@ -200,15 +190,6 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         MogoRouteOverlayManager.getInstance().init()
         MapPointCloudSubscriber.instance
         SpeedLimitDataManager.getInstance().start()
-
-        // TODO GD地图业务需要与高精地图业务拆开 --- 扶风
-        queryInfStructure()
-    }
-
-    private fun queryInfStructure() {
-        val viewModel = this.obtainViewModel(OverViewModel::class.java)
-        viewModel.infStructuresMap.observe(this.viewLifecycleOwner) { t -> InfStructureManager.saveData(t) }
-        viewModel.fetchInfStructures()
     }
 
     override fun getUIController(): IMogoMapUIController {
@@ -217,8 +198,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
 
     override fun onDestroyView() {
         CallerSkinModeListenerManager.removeListener(Companion.functionName)
-        CallerPlanningRottingListenerManager.removeListener(Companion.functionName)
+        CallerChassisLocationWGS84ListenerManager.removeListener(Companion.functionName)
-        MoGoLocationManager.removeListener(Companion.functionName)
         CallerChassisLamplightListenerManager.removeListener(Companion.functionName)
 
         if (mMogoMapView != null) {
@@ -334,11 +314,6 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
     override val functionName: String
         get() = functionName
 
-    // TODO 全览模式需要自己监听 --- 扶风
-    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
-        UiThreadHandler.post { savePlanningData(globalPathResp!!.wayPointsList) }
-    }
-
     private var turnLightTimes = 0
     private var isOnTurnLight = false
     private var turnLight = 0
@@ -346,8 +321,8 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
     private var isShowTurnLight = false
     private var brakeLight = -1
 
-    override fun onLocationChanged(gnssInfo: MessagePad.GnssInfo,sourceType: DataSourceType) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        // 跟新地图控件
+        // 更新地图控件
         mMogoMapView?.setExtraGPSData(gnssInfo)
 
         if (gnssInfo != null) {
@@ -364,6 +339,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
         }
     }
 
+
     override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
         //can数据转发  转向灯状态 0是正常 1是左转 2是右转
         if (lightSwitch != null) {

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/view/OverMapView.kt

@@ -19,9 +19,10 @@ import com.amap.api.maps.model.*
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.Infrastructure
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.getGlobalPath
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showVideoDialog
@@ -83,7 +84,7 @@ class OverMapView @JvmOverloads constructor(
     // 绘制轨迹线的集合
     private val textureList: MutableList<BitmapDescriptor?> = ArrayList()
     private val texIndexList: MutableList<Int> = ArrayList()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
     private var isFirstLocation = true
     var mCustomMapStyleOptions: CustomMapStyleOptions? = null
     var currMarkerList: ArrayList<Marker>? = null
@@ -269,12 +270,14 @@ class OverMapView @JvmOverloads constructor(
              * 室内某个bag包自动驾驶启动8s后返回
              */
             override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
-                Log.d(TAG, "onAutopilotRotting")
+                globalPathResp?.let {
-                handlePlanningData(globalPathResp!!.wayPointsList)
+                    handlePlanningData(it.wayPointsList)
+                }
             }
         }
 
-    fun handlePlanningData(locationList: List<MessagePad.Location>) {
+    fun handlePlanningData(locationList: List<MessagePad.Location>?) {
+        if (locationList.isNullOrEmpty()) return
         val list: List<MessagePad.Location> = locationList
         // 转成高德坐标系并存储
         updateRoutePoints(list, mContext!!)
@@ -493,7 +496,7 @@ class OverMapView @JvmOverloads constructor(
      *
      * @param location
      */
-    private fun drawCarMarker(location: MessagePad.GnssInfo?) {
+    private fun drawCarMarker(location: MogoLocation?) {
         if (location == null) return
         if (mCarMarker != null) {
             val currentLatLng = LatLng(location.latitude, location.longitude)
@@ -568,7 +571,7 @@ class OverMapView @JvmOverloads constructor(
         }
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         mLocation = gnssInfo
         lonLat = Pair(gnssInfo!!.longitude, gnssInfo.latitude)
         drawCarMarker(gnssInfo)

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java

@@ -31,6 +31,7 @@ import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.Infrastructure;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
@@ -92,7 +93,7 @@ public class AMapCustomView
     private List<BitmapDescriptor> textureList = new ArrayList<>();
     private List<Integer> texIndexList = new ArrayList<>();
 
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
     private boolean isFirstLocation = true;
     CustomMapStyleOptions mCustomMapStyleOptions;
 
@@ -224,11 +225,14 @@ public class AMapCustomView
         @Override
         public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
             Log.d(TAG, "onAutopilotRotting");
-            handlePlanningData(globalPathResp.getWayPointsList());
+            if (globalPathResp != null) {
+                handlePlanningData(globalPathResp.getWayPointsList());
+            }
         }
     };
 
     public void handlePlanningData(List<MessagePad.Location> locationList) {
+        if (locationList == null || locationList.size() == 0) return;
         List list = locationList;
         // 转成高德坐标系并存储
         MarkerDrawerManager.INSTANCE.updateRoutePoints(list, mContext);
@@ -456,7 +460,7 @@ public class AMapCustomView
      *
      * @param location
      */
-    private void drawCarMarker(MessagePad.GnssInfo location) {
+    private void drawCarMarker(MogoLocation location) {
         if (location == null) return;
         if (mCarMarker != null) {
             LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
@@ -534,7 +538,7 @@ public class AMapCustomView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         mLocation = gnssInfo;
         MarkerDrawerManager.INSTANCE.setLonLat(new Pair(gnssInfo.getLongitude(), gnssInfo.getLatitude()));
         drawCarMarker(gnssInfo);

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/OverviewMapFragment.java

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.function.overview.InfStructureManager;
@@ -117,7 +117,7 @@ public class OverviewMapFragment extends BaseFragment
     public void onActivityCreated(@Nullable Bundle savedInstanceState) {
         super.onActivityCreated(savedInstanceState);
         // 主动查一次全局路径规划的数据
-        CallerAutoPilotManager.INSTANCE.getGlobalPath();
+        CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
         queryV2XEvents();
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java

@@ -32,6 +32,7 @@ import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.map.R;
@@ -47,8 +48,6 @@ import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 小地图的方向View
  *
@@ -75,7 +74,7 @@ public class SmallMapDirectionView
     private Polyline mPolyline;
     private CameraUpdate mCameraUpdate;
     private Context mContext;
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
 
     public SmallMapDirectionView(Context context) {
         this(context, null);
@@ -179,7 +178,7 @@ public class SmallMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java

@@ -17,7 +17,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.map.R;
@@ -143,7 +143,7 @@ public class SmallMapFragment extends BaseFragment
             clearPolyline();
         }else if (tempStatus  == 1 && autoPilotStatus == 0){
             CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
-            CallerAutoPilotManager.INSTANCE.getGlobalPath();
+            CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
         }
         autoPilotStatus = tempStatus;
     }

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt

@@ -29,9 +29,9 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.analytics.AnalyticsManager
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
@@ -46,7 +46,6 @@ import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.rousetime.android_startup.AndroidStartup
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
-import mogo.telematics.pad.MessagePad.GnssInfo
 
 class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
@@ -293,10 +292,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                 CallerChassisLocationGCJ20ListenerManager.addListener(
                     TAG,
                     object : IMoGoChassisLocationGCJ02Listener {
-
+                        override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
-                        override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+                            mogoLocation?.let {
-                            CallerMapLocationListenerManager.getCurrentLocation()?.let { loc ->
+                                MogoLocationInfoServices.getInstance().provideLocation(mogoLocation)
-                                MogoLocationInfoServices.getInstance().provideLocation(loc)
                             }
                         }
                     },

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt

@@ -1,47 +1,53 @@
 package com.mogo.eagle.core.function.v2x.events
 
-import android.content.*
+import android.content.Context
-import android.os.*
+import android.content.Intent
-import android.util.*
+import android.os.Handler
-import androidx.localbroadcastmanager.content.*
+import android.os.Looper
-import com.mogo.cloud.passport.*
+import android.util.Log
+import androidx.localbroadcastmanager.content.LocalBroadcastManager
+import com.mogo.cloud.passport.IMoGoTokenCallback
+import com.mogo.cloud.passport.MoGoAiCloudClient
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.HostConst
 import com.mogo.commons.module.ServiceConst.CARD_TYPE_ROAD_CONDITION
-import com.mogo.eagle.core.data.enums.EventTypeEnumNew
+import com.mogo.commons.network.ParamsUtil
-import com.mogo.eagle.core.data.enums.EventTypeHelper
-import com.mogo.commons.network.*
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
-import com.mogo.eagle.core.data.enums.*
+import com.mogo.eagle.core.data.enums.DataSourceType
-import com.mogo.eagle.core.data.map.*
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew
+import com.mogo.eagle.core.data.enums.EventTypeHelper
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
-import com.mogo.eagle.core.data.enums.DataSourceType
 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.data.traffic.TrafficData
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.api.hmi.warning.*
+import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-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.*
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
-import com.mogo.eagle.core.function.call.hmi.*
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.v2x.events.alarm.*
+import com.mogo.eagle.core.function.v2x.events.alarm.V2XAlarmServer
-import com.mogo.eagle.core.function.v2x.events.bridge.*
+import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi.context
-import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.*
+import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_EXTRA_KEY
-import com.mogo.eagle.core.function.v2x.events.manager.*
+import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_HANDLER_ACTION
-import com.mogo.eagle.core.function.v2x.events.receiver.*
+import com.mogo.eagle.core.function.v2x.events.receiver.SceneBroadcastReceiver
-import com.mogo.eagle.core.function.v2x.events.scenario.impl.*
+import com.mogo.eagle.core.function.v2x.events.scenario.impl.V2XScenarioManager
-import com.mogo.eagle.core.function.v2x.events.utils.*
+import com.mogo.eagle.core.function.v2x.events.utils.TrackUtils
-import com.mogo.eagle.core.function.v2x.events.utils.MapUtils
+import com.mogo.eagle.core.function.v2x.events.utils.toRoadMarker
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.config.V2XConfig
@@ -51,27 +57,35 @@ import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.road.V2XEventServiceApi
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
-import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.utilcode.util.Utils
-import com.mogo.map.marker.*
+import com.mogo.map.marker.IMogoMarker
+import com.mogo.map.marker.IMogoMarkerClickListener
 import com.mogo.map.marker.MogoMarkersHandler.Companion.mogoMarkersHandler
-import com.shuyu.gsyvideoplayer.*
+import com.shuyu.gsyvideoplayer.GSYVideoManager
-import com.shuyu.gsyvideoplayer.cache.*
+import com.shuyu.gsyvideoplayer.cache.CacheFactory
-import com.shuyu.gsyvideoplayer.model.*
+import com.shuyu.gsyvideoplayer.cache.ProxyCacheManager
-import com.shuyu.gsyvideoplayer.player.*
+import com.shuyu.gsyvideoplayer.model.VideoOptionModel
-import com.shuyu.gsyvideoplayer.utils.*
+import com.shuyu.gsyvideoplayer.player.IjkPlayerManager
-import com.zhjt.service.chain.*
+import com.shuyu.gsyvideoplayer.player.PlayerFactory
+import com.shuyu.gsyvideoplayer.utils.GSYVideoType
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
-import kotlinx.coroutines.*
+import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.android.*
+import kotlinx.coroutines.Dispatchers
-import mogo.telematics.pad.MessagePad.GnssInfo
+import kotlinx.coroutines.android.asCoroutineDispatcher
-import tv.danmaku.ijk.media.player.*
+import kotlinx.coroutines.cancel
-import java.util.concurrent.*
+import kotlinx.coroutines.launch
-import java.util.concurrent.atomic.*
+import tv.danmaku.ijk.media.player.IjkMediaPlayer
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicBoolean
 
 
 object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, IV2XCallback {
@@ -116,13 +130,6 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
     private fun registerListener() {
         V2XManager.addCallback(this)
         CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
-        mogoMarkersHandler.registerMarkerClickListener(CARD_TYPE_ROAD_CONDITION,
-            object : IMogoMarkerClickListener {
-                override fun onMarkerClicked(marker: IMogoMarker?): Boolean {
-                    handleRoadConditionMarkerClick(marker)
-                    return super.onMarkerClicked(marker)
-                }
-            })
     }
 
     private fun unRegisterListener() {
@@ -131,63 +138,6 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
         mogoMarkersHandler.unregisterMarkerClickListener(CARD_TYPE_ROAD_CONDITION)
     }
 
-    private fun handleRoadConditionMarkerClick(marker: IMogoMarker?) {
-        //点击的marker的具体数据
-        val exploreWay = extractFromMarker(marker)
-        exploreWay?.let {
-            val item = it.items[0]
-            val path = item.url
-            if (path.contains(".mp4")) {
-                initVideo()
-            }
-
-            val roadEventEntity = V2XRoadEventEntity()
-            roadEventEntity.noveltyInfo = exploreWay
-            roadEventEntity.poiType = it.poiType
-            roadEventEntity.expireTime = 20000 //地理位置
-            //地理位置
-            val location = it.location
-            roadEventEntity.location = location
-
-            val v2XMessageEntity: V2XMessageEntity<V2XRoadEventEntity> =
-                V2XMessageEntity<V2XRoadEventEntity>()
-            v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
-            v2XMessageEntity.isShowState = true
-            v2XMessageEntity.isOnlyShow = true
-            v2XMessageEntity.isNeedAddLine = false
-            v2XMessageEntity.content = roadEventEntity
-            val intent = Intent(BROADCAST_SCENE_HANDLER_ACTION)
-            intent.putExtra(BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity)
-            LocalBroadcastManager.getInstance(context()).sendBroadcast(intent)
-            //埋点
-            TrackUtils.trackV2XMarkerClick(2)
-        }
-    }
-
-    private fun initVideo() {
-        PlayerFactory.setPlayManager(IjkPlayerManager::class.java)
-        CacheFactory.setCacheManager(ProxyCacheManager::class.java)
-        val list = mutableListOf<VideoOptionModel>()
-        list.add(VideoOptionModel(IjkMediaPlayer.OPT_CATEGORY_PLAYER, "enable-accurate-seek", 1))
-        list.add(VideoOptionModel(IjkMediaPlayer.OPT_CATEGORY_PLAYER, "videotoolbox", 0))
-        GSYVideoManager.instance().optionModelList = list
-        GSYVideoType.enableMediaCodec()
-        GSYVideoType.enableMediaCodecTexture()
-    }
-
-    private fun extractFromMarker(marker: IMogoMarker?): MarkerExploreWay? {
-        if (marker == null) {
-            return null
-        }
-        if (marker.getObject() is MarkerShowEntity) {
-            val showEntity = marker.getObject() as MarkerShowEntity
-            if (showEntity.bindObj is MarkerExploreWay) {
-                return showEntity.bindObj as MarkerExploreWay
-            }
-        }
-        return null
-    }
-
     override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
         val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
         BridgeApi.location.set(location)
@@ -208,14 +158,13 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
             val min = if (EventTypeEnumNew.isCloudSocketEvent(v2XRoadEventEntity.poiType)) 0 else 5
             CallerLogger.d(
                 "$M_V2X$TAG",
-                "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.speed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
+                "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.gnssSpeed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
             )
             if (distance >= min) {
                 CallerLogger.d(
                     "$M_V2X$TAG",
                     "--- trigger show ---:poiType:" + v2XRoadEventEntity.poiType
                 )
-                TrackUtils.trackV2xRoadProduceEvent(1)
                 val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
                 v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
                 v2XMessageEntity.content = v2XRoadEventEntity

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java

@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.v2x.events.alarm;
 
-import android.util.Log;
-
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.MarkerLocation;
@@ -51,7 +49,7 @@ public class V2XAlarmServer {
                     if (poiLocation == null) {
                         continue;
                     }
-                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getBearing())) {
+                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getHeading())) {
                         iterator.remove();
                     }
                 }
@@ -75,7 +73,7 @@ public class V2XAlarmServer {
                                 }
                             }
                             // 2、道路事件方向与当前行驶方向角度偏差《20度以内
-                            double carBearing = currentLocation.getBearing();
+                            double carBearing = currentLocation.getHeading();
                             double eventBearing = eventLocation.getAngle();
                             double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
                             Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
@@ -86,7 +84,7 @@ public class V2XAlarmServer {
                                         currentLocation.getLatitude(),
                                         eventLocation.getLon(),
                                         eventLocation.getLat(),
-                                        (int) currentLocation.getBearing()
+                                        (int) currentLocation.getHeading()
                                 );
 
                                 Logger.d(TAG, "eventAngle:" + eventAngle);

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/MoGoV2XServicePaths.java

@@ -13,11 +13,6 @@ import androidx.annotation.Keep;
  */
 @Keep
 public class MoGoV2XServicePaths {
-    /**
-     * V2X 状态管理
-     */
-    @Keep
-    public static final String PATH_V2X_STATUS_MANAGER = "/v2xStatusManager/api";
 
     /**
      * V2X 道路事件POI点
@@ -25,11 +20,6 @@ public class MoGoV2XServicePaths {
     @Keep
     public static final String PATH_V2X_MARKER_MANAGER = "/v2xMarkerManager/api";
 
-    /**
-     * V2X 道路事件与车辆的连接线
-     */
-    @Keep
-    public static final String PATH_V2X_POLYLINE_MANAGER = "/v2xPolylineManager/api";
 
     /**
      * V2X 道路事件与车辆的连接线

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/V2XConst.java

@@ -9,10 +9,6 @@ package com.mogo.eagle.core.function.v2x.events.consts;
  */
 public class V2XConst {
 
-    /**
-     * V2X面板名称
-     */
-    public static final String MODULE_NAME = "V2X_UI";
 
     /**
      * V2X 场景广播 Action
@@ -28,23 +24,10 @@ public class V2XConst {
     public static final String BROADCAST_SCENE_ACTION = "com.v2x.scene_local_broadcast";
 
 
-    /**
-     * V2X 埋点
-     */
-    public static final String V2X_ROAD_SHOW = "v2x_road_show";
     public static final String V2X_ROAD_PRODUCE = "v2x_road_produce";
+
     public static final String LAUNCHER_ICON_CLICK = "Launcher_Icon_Click";
 
-    /**
-     * V2X 地图上发出警告的POI
-     */
-    public static final String V2X_EVENT_ALARM_POI = "V2X_EVENT_ALARM_POI";
-
-    /*
-     *V2X 车路云前方预警-识别物
-     * */
-    public static final String V2X_FRONT_WARNING_MARKER = "V2X_FRONT_WARNING_MARKER";
-
     /**
      * V2X预警日志tag
      */

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/remove/MarkerRemoveManager.kt

@@ -4,13 +4,14 @@ import android.os.Handler
 import android.os.HandlerThread
 import android.util.Log
 import com.mogo.cloud.commons.utils.CoordinateUtils
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 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.*
-import java.util.LinkedList
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicReference
@@ -83,7 +84,7 @@ object MarkerRemoveManager {
                 }
                 Log.d(TAG, "--- checkTask --- 3 ---")
                 val toRemove = toRemoveMakers.iterator()
-                val carLoc = AtomicReference<GnssInfo>()
+                val carLoc = AtomicReference<MogoLocation>()
                 while (toRemove.hasNext()) {
                     val marker = toRemove.next()
                     if (carLoc.get() == null) {

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt

@@ -45,7 +45,7 @@ class V2XAiRoadEventMarker {
                 if (polygons.size > 0) {
                     val l2 = entity.noveltyInfo?.location ?: return
                     v2xLocation.set(MogoLocation().also {
-                        it.longitude = l2.lon; it.latitude = l2.lat; it.bearing = l2.angle.toFloat()
+                        it.longitude = l2.lon; it.latitude = l2.lat; it.heading = l2.angle
                     })
 
                     val options = MogoPolylineOptions()

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java

@@ -7,8 +7,11 @@ import android.text.Spannable;
 import android.text.SpannableStringBuilder;
 import android.text.style.ForegroundColorSpan;
 import android.util.Log;
+
 import androidx.annotation.Nullable;
+
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
 import com.mogo.eagle.core.data.msgbox.MsgBoxType;
@@ -19,14 +22,13 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.impl.AbsV2XScenario;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+
 import java.math.BigDecimal;
 import java.util.Locale;
 import java.util.concurrent.TimeUnit;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author liujing
  * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
@@ -128,7 +130,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChas
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         sV2XWarningMarker.onCarLocationChanged2(gnssInfo);
     }
 

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java

@@ -3,32 +3,33 @@ package com.mogo.eagle.core.function.v2x.events.scenario.scene.warning;
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
+
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.MogoStatusManager;
+import com.mogo.commons.utils.Trigonometric;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.data.v2x.DrawLineInfo;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
-import com.mogo.eagle.core.data.v2x.DrawLineInfo;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoPersonWarnPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoStopPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoWarnPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
+import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation;
+import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.overlay.IMogoPolyline;
-import com.mogo.commons.utils.Trigonometric;
+
-import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation;
-import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
-import mogo.telematics.pad.MessagePad;
 
 /**
  * @author liujing
@@ -52,7 +53,7 @@ public class V2XWarningMarker implements IV2XMarker {
      * */
     private MogoLatLng middleLocationInStopLine = new MogoLatLng(0, 0);
     private static long showTime = 6000;
-    private float bearing;
+    private double bearing;
     private boolean hasStopLines = false;
 
     @Override
@@ -75,7 +76,7 @@ public class V2XWarningMarker implements IV2XMarker {
         if (location == null) {
             return;
         }
-        bearing = location.getBearing();
+        bearing = location.getHeading();
 
         if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null) {
             hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
@@ -428,7 +429,7 @@ public class V2XWarningMarker implements IV2XMarker {
     }
 
     //线随车动
-    public void onCarLocationChanged2(MessagePad.GnssInfo latLng) {
+    public void onCarLocationChanged2(MogoLocation latLng) {
         carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
         if (MogoStatusManager.getInstance().isVrMode() && !isSelfLineClear) {
             if (mCloundWarningInfo != null) {

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/TrackUtils.java

@@ -1,36 +0,0 @@
-package com.mogo.eagle.core.function.v2x.events.utils;
-
-import com.mogo.commons.analytics.AnalyticsUtils;
-import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
-import java.util.HashMap;
-import java.util.Map;
-
-/**
- * 统计埋点工具
- */
-public class TrackUtils {
-    /**
-     * @param type type=1 短距离角度匹配
-     *             type=2 历史轨迹匹配
-     */
-    public static void trackV2xRoadProduceEvent(int type) {
-        try {
-            Map<String, Object> properties = new HashMap<>();
-            properties.put("type", type);
-            AnalyticsUtils.track(V2XConst.V2X_ROAD_PRODUCE, properties);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    public static void trackV2XMarkerClick(int type) {
-        try {
-            Map<String, Object> properties = new HashMap<>();
-            properties.put("type", type);
-            AnalyticsUtils.track(V2XConst.LAUNCHER_ICON_CLICK, properties);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-}

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/V2XManager.kt

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerResponse
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.internal.http.V2XRefreshModel
 import com.mogo.eagle.core.function.v2x.internal.http.callback.IV2XRefreshCallback
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 import com.mogo.eagle.core.function.v2x.internal.socket.*
 import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_401012
 import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_401018
@@ -86,12 +86,12 @@ object V2XManager {
      * @param config 相关配置类
      */
     fun init(config: V2XConfig) {
-        Logger.d(TAG, "-- init --")
+        V2XLogger.d(TAG, "-- init --")
         if (V2XManager.config.get() != null) {
             throw IllegalStateException("V2XManager has been initialized, don't initialize repeatably.")
         }
         V2XManager.config.set(config)
-        Logger.loggable = config.loggable
+        V2XLogger.loggable = config.loggable
     }
 
     /**
@@ -104,28 +104,28 @@ object V2XManager {
      *  3.短链[V2XRefreshModel.querySnapshot]定时轮循,轮循时长取[V2XConfig.durationForTriggerRefresh]
      */
     fun start() {
-        Logger.d(TAG, "-- start --")
+        V2XLogger.d(TAG, "-- start --")
         val config = config.get() ?: throw IllegalStateException("V2XManager has not been initialized, please invoke V2XManager#init(config: X2XConfig) firstly.")
         if (started.get()) {
-            Logger.d(TAG, "-- has been started --")
+            V2XLogger.d(TAG, "-- has been started --")
             return
         }
         if (config.aiCloudConfig.sn?.isBlank() == true) {
-            Logger.e(TAG, "sn is null or blank, please ensure sn exists and then invoke V2XManager#start() again.")
+            V2XLogger.e(TAG, "sn is null or blank, please ensure sn exists and then invoke V2XManager#start() again.")
             cbs.forEach {
                 it.onFail("sn is null or blank, please ensure sn exists and then invoke V2XManager#start() again.")
             }
             return
         }
         if (config.aiCloudConfig.token?.isBlank() == true) {
-            Logger.e(TAG, "token is null or blank, please ensure token exists and then invoke V2Manager#start() again.")
+            V2XLogger.e(TAG, "token is null or blank, please ensure token exists and then invoke V2Manager#start() again.")
             cbs.forEach {
                 it.onFail("token is null or blank, please ensure token exists and then invoke V2Manager#start() again.")
             }
             return
         }
         if (started.compareAndSet(false, true)) {
-            Logger.d(TAG, "-- start real --")
+            V2XLogger.d(TAG, "-- start real --")
             SocketManager.getInstance().init(config.context,0.0,0.0)
             SocketManager.getInstance().registerOnMessageListener(401012, V2XMessageListener_401012(cbs))
             SocketManager.getInstance().registerOnMessageListener(401018, V2XMessageListener_401018(cbs))
@@ -160,12 +160,12 @@ object V2XManager {
      * 3. 取消短链定时轮循任务
      */
     fun stop() {
-        Logger.d(TAG, "-- stop --")
+        V2XLogger.d(TAG, "-- stop --")
         if (config.get() == null) {
             throw IllegalStateException("V2XManager has not been initialized, please invoke V2XManager#init(config: X2XConfig) firstly.")
         }
         if (started.compareAndSet(true, false)) {
-            Logger.d(TAG, "-- stop real --")
+            V2XLogger.d(TAG, "-- stop real --")
             SocketManager.getInstance().release()
             handler.removeCallbacks(refreshTask)
             lastLatitude.set(0.0)
@@ -178,7 +178,7 @@ object V2XManager {
      * @param cb 要添加的回调接口
      */
     fun addCallback(cb: IV2XCallback) {
-        Logger.d(TAG, "-- addCallback --")
+        V2XLogger.d(TAG, "-- addCallback --")
         if (cbs.contains(cb)) {
             return
         }
@@ -190,7 +190,7 @@ object V2XManager {
      * @param cb 要移除的回调接口
      */
     fun removeCallback(cb: IV2XCallback) {
-        Logger.d(TAG, "-- removeCallback --")
+        V2XLogger.d(TAG, "-- removeCallback --")
         if (!cbs.contains(cb)) {
             return
         }
@@ -209,7 +209,7 @@ object V2XManager {
         if (!started.get()) {
             return
         }
-        Logger.d(TAG, "--- onLocationChanged --[longitude: $longitude, latitude: $latitude]")
+        V2XLogger.d(TAG, "--- onLocationChanged --[longitude: $longitude, latitude: $latitude]")
         realLongitude.set(longitude)
         realLatitude.set(latitude)
         val oldLon = lastLongitude.get()
@@ -217,14 +217,14 @@ object V2XManager {
         var update = false
         try {
             if (oldLon == 0.0 || oldLat == 0.0) {
-                Logger.d(TAG, "--- onLocationChanged -- first --[longitude: $longitude, latitude: $latitude]")
+                V2XLogger.d(TAG, "--- onLocationChanged -- first --[longitude: $longitude, latitude: $latitude]")
                 handler.removeCallbacks(refreshTask)
                 handler.post(refreshTask)
                 update = true
                 return
             }
             if (DistanceUtils.calculateLineDistance(oldLon, oldLat, longitude, latitude) >= config.get().distanceForTriggerRefresh) {
-                Logger.d(TAG, "--- onLocationChanged -- trigger --[longitude: $longitude, latitude: $latitude]")
+                V2XLogger.d(TAG, "--- onLocationChanged -- trigger --[longitude: $longitude, latitude: $latitude]")
                 handler.removeCallbacks(refreshTask)
                 handler.post(refreshTask)
                 update = true

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/data/V2XMarkerCardResult.kt

@@ -436,6 +436,17 @@ class V2XMarkerExploreWay: Serializable {
 
     var coordinateType: Int? = null
 
+    /**
+     * polygon字段，用来表示事件围栏
+     */
+    var polygon: List<V2XLocation>? = null
+
+
+    /**
+     * 事件的高精坐标
+     */
+    var gpsLocation: V2XLocation? = null
+
     override fun toString(): String {
         return "V2XMarkerExploreWay(infoId=$infoId, type=$type, poiType=$poiType, sn=$sn, location=$location, direction=$direction, canLive=$canLive, fileType=$fileType, addr=$addr, generateTime=$generateTime, cityName=$cityName, distance=$distance, userInfo=$userInfo, items=$items, uploadType=$uploadType, isFabulous=$isFabulous, infoCheckNode=$infoCheckNode, coordinateType=$coordinateType)"
     }

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/logger/V2XLogger.kt

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.v2x.internal.logger
 
 import android.util.Log
 
-internal object Logger {
+internal object V2XLogger {
 
     var loggable: Boolean = false
 

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_401012.kt

@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerCardResult
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 
 internal class V2XMessageListener_401012(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XMarkerCardResult> {
 
@@ -16,10 +16,10 @@ internal class V2XMessageListener_401012(val cbs: Iterable<IV2XCallback>?): IMog
             return
         }
         if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_401012：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401012：message is null!")
             return
         }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_401012:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401012:$data")
         cbs?.forEach {
             it.onAck(V2XEvent.Road(data = data))
         }

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_401018.kt

@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 
 internal class V2XMessageListener_401018(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XWarningTarget> {
 
@@ -16,10 +16,10 @@ internal class V2XMessageListener_401018(val cbs: Iterable<IV2XCallback>?): IMog
             return
         }
         if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_401018：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401018：message is null!")
             return
         }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_401018:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401018:$data")
         cbs?.forEach {
             it.onAck(V2XEvent.Warning(data = data))
         }

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_402000.kt

@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XOptimalRoute
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 
 internal class V2XMessageListener_402000(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XOptimalRoute> {
 
@@ -16,10 +16,10 @@ internal class V2XMessageListener_402000(val cbs: Iterable<IV2XCallback>?): IMog
             return
         }
         if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_402000：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_402000：message is null!")
             return
         }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_402000:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_402000:$data")
         cbs?.forEach {
             it.onAck(V2XEvent.OptimalRoute(data = data))
         }

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_404000.kt

@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XAdvanceWarning
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 
 internal class V2XMessageListener_404000(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XAdvanceWarning> {
 
@@ -16,10 +16,10 @@ internal class V2XMessageListener_404000(val cbs: Iterable<IV2XCallback>?): IMog
             return
         }
         if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_404000：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_404000：message is null!")
             return
         }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_404000:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_404000:$data")
         cbs?.forEach {
             it.onAck(V2XEvent.ForwardsWarning(data = data))
         }

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_503000.kt

@@ -4,7 +4,7 @@ import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent.RoadAI
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 import roadwork.Road.RW_PB
 
 internal class V2XMessageListener_503000(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<RW_PB> {
@@ -16,10 +16,10 @@ internal class V2XMessageListener_503000(val cbs: Iterable<IV2XCallback>?): IMog
             return
         }
         if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_503000：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_503000：message is null!")
             return
         }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_503000:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_503000:$data")
         cbs?.forEach {
             it.onAck(RoadAI(data = data))
         }