[dev_arch_opt_3.0]

[Change] [ 1、更替项目中用到的高德地图的地方，使用IMoGoChassisLocationGCJ02Listener ] Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
2023-01-16 16:01:19 +08:00
parent 3ae9cda2f7
commit 4c30b63dfc
23 changed files with 165 additions and 149 deletions
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/callback/IBusPassengerControllerStatusCallback.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/callback/IBusPassengerControllerStatusCallback.java
@@ -1,6 +1,6 @@
 package com.mogo.och.bus.passenger.callback;

-import com.mogo.eagle.core.data.map.MogoLocation;
+import mogo.telematics.pad.MessagePad;

 /**
 * 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(MogoLocation location);
+    void onCarLocationChanged(MessagePad.GnssInfo location);
 }
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -26,9 +26,11 @@ 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.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 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;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.network.utils.GsonUtil;
@@ -89,7 +91,7 @@ public class BusPassengerModel {
    private IBusPassegerDriverStatusCallback mDriverStatusCallback; //出车收车状态
    private IBusPassengerRouteLineInfoCallback mRouteLineInfoCallback; // bus路线信息更新

-    private MogoLocation mLocation = null;
+    private MessagePad.GnssInfo  mLocation = null;

    private BusPassengerRoutesResult routesResult = null;

@@ -272,7 +274,7 @@ public class BusPassengerModel {
        IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
        // 定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, mMapLocationListener,false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);

        //2021.11.1 自动驾驶路线规划接口
        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
@@ -319,13 +321,13 @@ public class BusPassengerModel {
        }
    };

-    private final IMoGoMapLocationListener mMapLocationListener = new IMoGoMapLocationListener() {
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
        @Override
-        public void onLocationChanged(@Nullable MogoLocation location, int from, boolean isGps) {
-            if (null == location) return;
-            mLocation = location;
+        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+            if (null == gnssInfo) return;
+            mLocation = gnssInfo;
            for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){
-                callback.onCarLocationChanged(location);
+                callback.onCarLocationChanged(gnssInfo);
            }
        }
    };
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java
@@ -26,6 +26,8 @@ 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 +112,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
    }

    @Override
-    public void onCarLocationChanged(MogoLocation location) {
+    public void onCarLocationChanged(MessagePad.GnssInfo location) {
        if (location != null){
            runOnUIThread(() -> mView.onCarLocationChanged(location));
        }
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
@@ -1,5 +1,7 @@
 package com.mogo.och.bus.passenger.ui;

+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+
 import android.os.Bundle;
 import android.view.View;
 import android.view.animation.Animation;
@@ -14,7 +16,6 @@ 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.data.map.MogoLocation;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
@@ -31,7 +32,7 @@ import com.mogo.och.common.module.wigets.MarqueeTextView;
 import java.util.ArrayList;
 import java.util.List;

-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+import mogo.telematics.pad.MessagePad;

 /**
 * @author: wangmingjun
@@ -301,8 +302,8 @@ public class BusPassengerRouteFragment extends
        lastBearing = bearing;
    }

-    public void onCarLocationChanged(MogoLocation location) {
-        updateSpeedView(location.getSpeed());
+    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+        updateSpeedView((float) location.getVehicleSpeed());
    }

    public void updateSpeedView(float speed){
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusControllerStatusCallback.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusControllerStatusCallback.java
@@ -2,6 +2,8 @@ package com.mogo.och.bus.callback;

 import com.mogo.eagle.core.data.map.MogoLocation;

+import mogo.telematics.pad.MessagePad;
+
 /**
 * Created on 2021/9/10
 *
@@ -11,7 +13,7 @@ public interface IBusControllerStatusCallback {
    // 是否vr map模式
    void onVRModeChanged(boolean isVRMode);
    // 自车定位
-    void onCarLocationChanged(MogoLocation location);
+    void onCarLocationChanged(MessagePad.GnssInfo location);
    //开始开启自动驾驶
    void startOpenAutopilot();
 }
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -24,12 +24,12 @@ 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.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -151,7 +151,7 @@ public class BusOrderModel {
        mContext = AbsMogoApplication.getApp();
        loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
        // 定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, mMapLocationListener, false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);

        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);

@@ -376,25 +376,25 @@ public class BusOrderModel {
    };

    // 自车定位
-    private final IMoGoMapLocationListener mMapLocationListener = new IMoGoMapLocationListener() {
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
        @Override
-        public void onLocationChanged(@Nullable MogoLocation location, int from, boolean isGps) {
-            if (null == location) return;
-            mLongitude = location.getLongitude();
-            mLatitude = location.getLatitude();
+        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+            if (null == gnssInfo) return;
+            mLongitude = gnssInfo.getLongitude();
+            mLatitude = gnssInfo.getLatitude();
            if (mControllerStatusCallback != null) {
-                mControllerStatusCallback.onCarLocationChanged(location);
+                mControllerStatusCallback.onCarLocationChanged(gnssInfo);
            }

            //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
            if (isGoingToNextStation && !isArrivedStation) {
-                judgeArrivedStation(location);
+                judgeArrivedStation(gnssInfo);
            }
        }
    };

    //根据围栏判断，是否到达站点
-    private void judgeArrivedStation(MogoLocation location) {
+    private void judgeArrivedStation(MessagePad.GnssInfo location) {

        if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
            CallerLogger.INSTANCE.e(M_BUS + TAG, "到站数组越界");
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/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(MogoLocation location) {
+    public void onCarLocationChanged(MessagePad.GnssInfo location) {
        if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView(location.getSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
        }
    }

--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt
@@ -3,8 +3,8 @@ 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.map.listener.IMoGoMapLocationListener
+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.CallerMapLocationListenerManager
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.SharedPrefs
@@ -18,6 +18,7 @@ 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
@@ -26,7 +27,7 @@ import com.mogo.och.common.module.utils.ToastUtilsOch
 * 网约车 - 出租车业务逻辑处理
 */
@SuppressLint("StaticFieldLeak")
-object OchCommonLoginModel : IMoGoMapLocationListener {
+object OchCommonLoginModel : IMoGoChassisLocationGCJ02Listener {

    private val TAG = "TaxiLoginModel"
    private var mContext: Context? = null
@@ -36,7 +37,7 @@ object OchCommonLoginModel : IMoGoMapLocationListener {
    fun init(context: Context) {
        mContext = context.applicationContext
        // 达到起始站围栏监听
-        CallerMapLocationListenerManager.addListener(TAG, this, false)
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
    }

    fun hasInit(): Boolean {
@@ -46,8 +47,8 @@ object OchCommonLoginModel : IMoGoMapLocationListener {
        return true
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-        location?.let {
+    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+        gnssInfo?.let {
            mLongitude = it.longitude
            mLatitude = it.latitude
        }
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java
@@ -231,7 +231,7 @@ public class CoordinateCalculateRouteUtil {
     */
    public static Map<Integer,List<MogoLocation>> getRemainPointListByCompareNew(int preIndex,
                                                                           List<MogoLocation> mRoutePoints,
-                                                                                 MogoLocation realLocation) {
+                                                                                 MessagePad.GnssInfo  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.getBearing() == realLocation.getBearing() - latLng.getBearing() ||
-                        Math.abs(realLocation.getBearing() - latLng.getBearing()) <= 90){
+                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
+                        Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 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,
-                                              MogoLocation realLocation) {
+                                              MessagePad.GnssInfo  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.getBearing() == realLocation.getBearing() - latLng.getBearing() ||
-                    Math.abs(realLocation.getBearing() - latLng.getBearing()) <= 90){
+            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
+                    Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
            float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                    realLocation.getLatitude(),
                    latLng.getLongitude(), latLng.getLatitude());
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperControllerStatusCallback.java
+++ b/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 com.mogo.eagle.core.data.map.MogoLocation;
+import mogo.telematics.pad.MessagePad;

 /**
 * 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(MogoLocation location);
+    void onCarLocationChanged(MessagePad.GnssInfo  location);
    //开始开启自动驾驶
    void startOpenAutopilot();
 }
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
@@ -19,11 +19,11 @@ 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.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -123,7 +123,7 @@ public class SweeperOrderModel {
    public void init() {
        mContext = AbsMogoApplication.getApp();
        // 定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG,mMapLocationListener,false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener);

        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);

@@ -272,25 +272,25 @@ public class SweeperOrderModel {
    };

    // 自车定位
-    private final IMoGoMapLocationListener mMapLocationListener = new IMoGoMapLocationListener() {
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
        @Override
-        public void onLocationChanged(@Nullable MogoLocation location, int from, boolean isGps) {
-            if (null == location) return;
-            mLongitude = location.getLongitude();
-            mLatitude = location.getLatitude();
+        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+            if (null == gnssInfo) return;
+            mLongitude = gnssInfo.getLongitude();
+            mLatitude = gnssInfo.getLatitude();
            if (mControllerStatusCallback != null) {
-                mControllerStatusCallback.onCarLocationChanged(location);
+                mControllerStatusCallback.onCarLocationChanged(gnssInfo);
            }

            //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
            if (isGoingToNextStation && !isArrivedStation) {
-                judgeStartStation(location);
+                judgeStartStation(gnssInfo);
            }
        }
    };

    //根据围栏判断，是否到达起点
-    private void judgeStartStation(MogoLocation location) {
+    private void judgeStartStation(MessagePad.GnssInfo  location) {

        if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
            return;
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
@@ -2,7 +2,6 @@ package com.mogo.och.sweeper.presenter;

 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;

-import android.location.Location;
 import android.os.Looper;

 import androidx.annotation.NonNull;
@@ -12,16 +11,15 @@ 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;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.sweeper.bean.SweeperStationBean;
 import com.mogo.och.sweeper.callback.ICarOperationStatusCallback;
-import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
 import com.mogo.och.sweeper.callback.IRefreshSweeperStationsCallback;
 import com.mogo.och.sweeper.callback.ISlidePannelHideCallback;
+import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
 import com.mogo.och.sweeper.fragment.SweeperFragment;
 import com.mogo.och.sweeper.model.SweeperOrderModel;
 import com.mogo.och.sweeper.util.SweeperTrajectoryManager;
@@ -239,9 +237,9 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
    }

    @Override
-    public void onCarLocationChanged(MogoLocation location) {
+    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
        if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView(location.getSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
        }
    }

--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/IOCHTaxiPassengerControllerStatusCallback.java
+++ b/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 com.mogo.eagle.core.data.map.MogoLocation;
+import mogo.telematics.pad.MessagePad;

 /**
 * 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(MogoLocation location);
+    void onCarLocationChanged(MessagePad.GnssInfo location);
 }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -26,11 +26,12 @@ 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.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager;
@@ -123,7 +124,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
    private int delayTime = 2;

    private double mLongitude, mLatitude;
-    private MogoLocation mLocation = null;
+    private MessagePad.GnssInfo  mLocation = null;

    private List<MogoLocation> mLocationsModels = new ArrayList<>();

@@ -236,7 +237,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
        IntentManager.getInstance().registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
        // 定位监听
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG,mMapLocationListener,false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener);

        //2021.11.1 自动驾驶路线规划接口
        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
@@ -427,7 +428,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
    }

    // TODO: 2021/9/12
-    public void calculateTravelDistance(MogoLocation carLocation){
+    public void calculateTravelDistance(MessagePad.GnssInfo carLocation){
        if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size()>0) {
            double endLon = mCurrentOCHOrder.endSiteGcjPoint.get(0);
            double endLat = mCurrentOCHOrder.endSiteGcjPoint.get(1);
@@ -466,25 +467,26 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
    };

    // 自车定位
-    private final IMoGoMapLocationListener mMapLocationListener = new IMoGoMapLocationListener() {
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
        @Override
-        public void onLocationChanged(@Nullable MogoLocation location, int from, boolean isGps) {
+        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
            //位置变化时，通过围栏判断是否到达x点
-            if (null == location) return;
+            if (null == gnssInfo) return;
            if (checkCurrentOCHOrder()) {
                if (getCurOrderStatus() == TaxiPassengerOrderStatusEnum.OnTheWayToEnd) {
-                    calculateTravelDistance(location);
+                    calculateTravelDistance(gnssInfo);
                }
            }
-            mLongitude = location.getLongitude();
-            mLatitude = location.getLatitude();
+            mLongitude = gnssInfo.getLongitude();
+            mLatitude = gnssInfo.getLatitude();

-            mLocation = location;
-          //            CallerLogger.INSTANCE.e(M_TAXI_P + TAG,"mLongitude = "+mLongitude+",  mLatitude = "+mLatitude);
+            mLocation = gnssInfo;
+            //            CallerLogger.INSTANCE.e(M_TAXI_P + TAG,"mLongitude = "+mLongitude+",  mLatitude = "+mLatitude);
            for (IOCHTaxiPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){
-                callback.onCarLocationChanged(location);
+                callback.onCarLocationChanged(gnssInfo);
            }
        }
+
    };

    private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
@@ -27,6 +27,8 @@ import com.mogo.och.taxi.passenger.model.TaxiPassengerModel;
 import com.mogo.och.taxi.passenger.ui.TaxiPassengerBaseFragment;
 import com.mogo.och.taxi.passenger.ui.leftmenu.LeftMenuOpen;

+import mogo.telematics.pad.MessagePad;
+
 /**
 * @author: wangmingjun
 * @date: 2022/3/4
@@ -120,7 +122,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
    }

    @Override
-    public void onCarLocationChanged(MogoLocation location) {
+    public void onCarLocationChanged(MessagePad.GnssInfo location) {
        // 速度不用展示
        // LeftMenuOpen.INSTANCE.callCallBack(-1,-1,location.getSpeed());
    }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
@@ -1,6 +1,7 @@
 package com.mogo.och.taxi.passenger.presenter;

-import android.location.Location;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
+
 import android.os.Build;
 import android.os.Looper;

@@ -10,8 +11,6 @@ import androidx.lifecycle.LifecycleOwner;

 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.Presenter;
-import com.mogo.eagle.core.data.map.MogoLatLng;
-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;
@@ -27,7 +26,7 @@ import com.mogo.och.taxi.passenger.ui.TaxiPassengerServingOrderFragment;

 import java.util.List;

-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
+import mogo.telematics.pad.MessagePad;

 /**
 * @author: wangmingjun
@@ -140,7 +139,7 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
    private static final long TIMEINTERVAL = 4000;

    @Override
-    public void onCarLocationChanged(MogoLocation location) {
+    public void onCarLocationChanged(MessagePad.GnssInfo location) {
        if (location != null){
            runOnUIThread(() -> mView.onCarLocationChanged(location));
            long currentTimeMillis = System.currentTimeMillis();
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java
@@ -4,7 +4,6 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAX

 import android.animation.Animator;
 import android.animation.AnimatorInflater;
-import android.location.Location;
 import android.os.Build;
 import android.os.Bundle;
 import android.os.Looper;
@@ -22,7 +21,6 @@ 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;
@@ -44,6 +42,8 @@ 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 +352,8 @@ public class TaxiPassengerServingOrderFragment extends

    }

-    public void onCarLocationChanged(MogoLocation location) {
-        updateSpeedView(location.getSpeed());
+    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+        updateSpeedView((float) location.getVehicleSpeed());
    }

    public void onLimitingVelocityChange(int limitingVelocity) {
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
+++ b/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 com.mogo.eagle.core.data.map.MogoLocation;
+import mogo.telematics.pad.MessagePad;

 /**
 * 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(MogoLocation location);
+    void onCarLocationChanged(MessagePad.GnssInfo  location);
    //开始开启自动驾驶
    void startOpenAutopilot();
 }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -28,10 +28,11 @@ 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.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -133,7 +134,7 @@ public class TaxiModel {
    private int mPreRouteIndex = 0;

    private double mLongitude, mLatitude;
-    private MogoLocation mLocation = null;
+    private MessagePad.GnssInfo  mLocation = null;

    private LoginService loginService;

@@ -223,7 +224,7 @@ public class TaxiModel {
        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);

        //定位监听， 传false是高德坐标系
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener,false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener);

        //2021.11.1 自动驾驶路线规划接口
        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
@@ -995,7 +996,7 @@ public class TaxiModel {
    }

    //根据围栏判断，是否到达起点
-    private void judgeStartStation(MogoLocation location) {
+    private void judgeStartStation(MessagePad.GnssInfo  location) {
        if (mCurrentOCHOrder == null || mCurrentOCHOrder.startSiteGcjPoint == null
                || mCurrentOCHOrder.startSiteGcjPoint.size() < 2) {
            return;
@@ -1052,31 +1053,31 @@ public class TaxiModel {
    };

    // 自车定位
-    private final IMoGoMapLocationListener mMapLocationLIstener = new IMoGoMapLocationListener() {
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationLIstener = new IMoGoChassisLocationGCJ02Listener() {
        @Override
-        public void onLocationChanged(@Nullable MogoLocation location, int from, boolean isGps) {
+        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
            //位置变化时，通过围栏判断是否到达x点
-            if (null == location) return;
+            if (null == gnssInfo) return;
            if (checkCurrentOCHOrder()) {
                if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToStart) {
-                    judgeStartStation(location);
+                    judgeStartStation(gnssInfo);
                }
                if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd &&
                        mPrevAPStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
-                    judgeEndStation(location);
+                    judgeEndStation(gnssInfo);
                }
            }

-            mLongitude = location.getLongitude();
-            mLatitude = location.getLatitude();
-            mLocation = location;
+            mLongitude = gnssInfo.getLongitude();
+            mLatitude = gnssInfo.getLatitude();
+            mLocation = gnssInfo;
            if (mControllerStatusCallback != null) {
-                mControllerStatusCallback.onCarLocationChanged(location);
+                mControllerStatusCallback.onCarLocationChanged(gnssInfo);
            }
        }
    };

-    private void judgeEndStation(MogoLocation location) {
+    private void judgeEndStation(MessagePad.GnssInfo  location) {
        if (mCurrentOCHOrder == null || mCurrentOCHOrder.endSiteGcjPoint == null
                || mCurrentOCHOrder.endSiteGcjPoint.size() < 2) {
            return;
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -2,7 +2,6 @@ package com.mogo.och.taxi.presenter;

 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;

-import android.location.Location;
 import android.os.Build;
 import android.os.Looper;

@@ -12,7 +11,6 @@ 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;
@@ -20,14 +18,14 @@ import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
 import com.mogo.och.common.module.biz.constant.LoginStatusManager;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
-import com.mogo.och.taxi.constant.TaxiConst;
-import com.mogo.och.taxi.constant.TaxiDriverRoleEnum;
-import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
 import com.mogo.och.taxi.bean.OrderQueryRouteInfoRespBean;
 import com.mogo.och.taxi.callback.ITaxiADASStatusCallback;
 import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback;
 import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback;
+import com.mogo.och.taxi.constant.TaxiConst;
+import com.mogo.och.taxi.constant.TaxiDriverRoleEnum;
+import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
 import com.mogo.och.taxi.constant.TaxtServingStatusManager;
 import com.mogo.och.taxi.model.TaxiModel;
 import com.mogo.och.taxi.ui.TaxiFragment;
@@ -36,6 +34,8 @@ import org.jetbrains.annotations.NotNull;

 import java.util.List;

+import mogo.telematics.pad.MessagePad;
+
 /**
 * @author congtaowang
 * @since 2021/1/18
@@ -314,10 +314,10 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
    }

    @Override
-    public void onCarLocationChanged(MogoLocation location) {
+    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
        if (null != location){
            runOnUIThread(() -> {
-                mView.updateSpeedView(location.getSpeed());
+                mView.updateSpeedView((float) location.getVehicleSpeed());
                mView.updateLocation(location.getLatitude(),location.getLongitude());
            });
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
@@ -4,29 +4,30 @@ import android.util.Log
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP_GREEN
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
+import com.mogo.eagle.core.data.enums.EventTypeEnum
 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
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.data.trafficlight.TrafficLightStatusHelper.getCurrentRoadTrafficLight
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.api.vip.IMoGoVipSetListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
 import com.mogo.eagle.core.function.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
-import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import com.mogo.eagle.core.data.enums.EventTypeEnum
-import com.mogo.eagle.core.data.msgbox.MsgBoxBean
-import com.mogo.eagle.core.data.msgbox.MsgBoxType
-import com.mogo.eagle.core.data.msgbox.V2XMsg
-import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.utilcode.util.LocationUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhjt.service_biz.BizConfig
+import mogo.telematics.pad.MessagePad
 import kotlin.math.abs
 import kotlin.math.ceil
 import kotlin.math.floor
@@ -34,7 +35,7 @@ import kotlin.math.min


 class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
-    IMoGoMapLocationListener {
+    IMoGoChassisLocationGCJ02Listener {

    private var vip: Boolean = false

@@ -44,7 +45,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
    // 是否已进入到路口(停止线处)
    private var isEnter = false

-    private var mLocation: MogoLocation? = null
+    private var mLocation: MessagePad.GnssInfo? = null

    companion object {

@@ -84,7 +85,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,

    fun listenTrafficLight() {
        CallerTrafficLightListenerManager.addListener(TAG, this)
-        CallerMapLocationListenerManager.addListener(TAG, this, false)
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
        CallVipSetListenerManager.addListener(TAG, this)
    }

@@ -100,7 +101,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
        // 路口100m闯红灯预警
        mLocation?.let {
            // 单位m/s
-            val speed = it.speed
+            val speed = it.vehicleSpeed
            // 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
@@ -208,9 +209,11 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
            CallerMsgBoxManager.saveMsgBox(
                MsgBoxBean(
                    MsgBoxType.V2X,
-                    V2XMsg(EventTypeEnum.TYPE_USECASE_ID_IVP.poiType,
+                    V2XMsg(
+                        EventTypeEnum.TYPE_USECASE_ID_IVP.poiType,
                        EventTypeEnum.TYPE_USECASE_ID_IVP.content,
-                        EventTypeEnum.TYPE_USECASE_ID_IVP.tts)
+                        EventTypeEnum.TYPE_USECASE_ID_IVP.tts
+                    )
                )
            )
            CallerHmiManager.warningV2X(
@@ -246,9 +249,11 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
            CallerMsgBoxManager.saveMsgBox(
                MsgBoxBean(
                    MsgBoxType.V2X,
-                    V2XMsg(EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                    V2XMsg(
+                        EventTypeEnum.TYPE_USECASE_ID_IVP_GREEN.poiType,
                        content,
-                        tts)
+                        tts
+                    )
                )
            )
            CallerHmiManager.warningV2X(
@@ -270,11 +275,11 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
    fun onDestroy() {
        CallVipSetListenerManager.removeListener(TAG)
        CallerTrafficLightListenerManager.removeListener(TAG)
-        CallerMapLocationListenerManager.removeListener(TAG,false)
+        CallerMapLocationListenerManager.removeListener(TAG, false)
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-        location?.let {
+    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+        gnssInfo?.let {
            mLocation = it
        }
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/speedlimit/SpeedLimitDataManager.java
@@ -6,10 +6,9 @@ import static com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.V2I;

 import androidx.annotation.Nullable;

-import com.mogo.eagle.core.data.map.MogoLocation;
-import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
+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.hmi.CallerHmiManager;
-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.v2x.CallLimitingVelocityListenerManager;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -18,16 +17,18 @@ import com.zhjt.service_biz.BizConfig;
 import java.util.Timer;
 import java.util.TimerTask;

+import mogo.telematics.pad.MessagePad;
+
 /**
 * 限速
 *
 * @author mogoauto
 */
-public class SpeedLimitDataManager implements IMoGoMapLocationListener {
+public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener {

    private final static String TAG = "SpeedLimitDataManager";
    private static SpeedLimitDataManager instance;
-    private MogoLocation mLocation;
+    private MessagePad.GnssInfo  mLocation;

    private SpeedLimitDataManager() {
    }
@@ -44,8 +45,8 @@ public class SpeedLimitDataManager implements IMoGoMapLocationListener {
    }

    @Override
-    public void onLocationChanged(@Nullable MogoLocation location, int from, boolean isGps) {
-        mLocation = location;
+    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        mLocation = gnssInfo;
    }

    private class SpeedTimerTask extends TimerTask {
@@ -61,7 +62,7 @@ public class SpeedLimitDataManager implements IMoGoMapLocationListener {
        @BizConfig(biz = V2I, dependentBizNode = "", bizNode = BIZ_SLW)
        private void getSpeedLimit() {
            if (!isShowObuLimitSpeedView) {
-                int speedLimit = CallerMapUIServiceManager.INSTANCE.getMapUIController().getLimitSpeed(mLocation.getLongitude(), mLocation.getLatitude(), mLocation.getBearing());
+                int speedLimit = CallerMapUIServiceManager.INSTANCE.getMapUIController().getLimitSpeed(mLocation.getLongitude(), mLocation.getLatitude(), (float) mLocation.getHeading());
                UiThreadHandler.post(() -> {
                    if (speedLimit > 0) {
                        CallerHmiManager.INSTANCE.showLimitingVelocity(speedLimit);
@@ -73,7 +74,7 @@ public class SpeedLimitDataManager implements IMoGoMapLocationListener {
    }

    public void start() {
-        CallerMapLocationListenerManager.INSTANCE.addListener(TAG, this, false);
+        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, this);
        Timer mTimer = new Timer();
        mTimer.schedule(new SpeedTimerTask(), 3000, 1000);
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/MogoTrafficLightManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/MogoTrafficLightManager.kt
@@ -3,10 +3,9 @@ package com.mogo.eagle.core.function.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.map.listener.IMoGoMapLocationListener
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+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.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
@@ -17,8 +16,9 @@ import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightThreadHand
 import com.mogo.eagle.core.function.v2x.trafficlight.network.TrafficLightNetWorkModel
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
+import mogo.telematics.pad.MessagePad

-class MogoTrafficLightManager : IMoGoMapLocationListener {
+class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {

    companion object {

@@ -31,7 +31,7 @@ class MogoTrafficLightManager : IMoGoMapLocationListener {

    private var mContext: Context? = null
    private val trafficLightNetWorkModel = TrafficLightNetWorkModel()
-    private var mLocation: MogoLocation? = null
+    private var mLocation: MessagePad.GnssInfo? = null
    private var roadIDResult: RoadIDResult? = null
    private var trafficLightResult: TrafficLightResult? = null

@@ -42,7 +42,7 @@ class MogoTrafficLightManager : IMoGoMapLocationListener {

    fun initServer(context: Context) {
        mContext = context
-        CallerMapLocationListenerManager.addListener(TAG, this, false)
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
        mThreadHandler =
            TrafficLightThreadHandler(Looper.getMainLooper(), {
                //第一次查询路口时，如果红绿灯显示，则隐藏掉
@@ -55,7 +55,7 @@ class MogoTrafficLightManager : IMoGoMapLocationListener {
                    val tileId = CallerMapUIServiceManager.getMapUIController()
                        ?.getTileId(it.longitude, it.latitude) ?: 0
                    trafficLightNetWorkModel.requestRoadID(
-                        tileId, it.latitude, it.longitude, it.bearing.toDouble(),
+                        tileId, it.latitude, it.longitude, it.heading,
                        {
                            mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_CROSS_ROAD)
                            roadIDResult = it
@@ -75,7 +75,7 @@ class MogoTrafficLightManager : IMoGoMapLocationListener {
                    val road =
                        if (roadIDResult?.rsCrossId.isNullOrBlank()) "" else roadIDResult?.rsCrossId
                    trafficLightNetWorkModel.requestTrafficLight(
-                        it.latitude, it.longitude, it.bearing.toDouble(), road, { result ->
+                        it.latitude, it.longitude, it.heading, road, { result ->
                            trafficLightResult = result
 //                            TrafficLightHMIManager.INSTANCE.updateTrafficLight(result)
                            CallerTrafficLightListenerManager.invokeTrafficLightStatus(result)
@@ -173,13 +173,6 @@ class MogoTrafficLightManager : IMoGoMapLocationListener {
        )
    }

-    override fun onLocationChanged(location: MogoLocation?, from: Int, isGps: Boolean) {
-        location?.let {
-            mLocation = it
-            checkOutOfRange()
-        }
-    }
-
    fun onDestroy() {
        mThreadHandler = null
        mContext = null
@@ -187,5 +180,12 @@ class MogoTrafficLightManager : IMoGoMapLocationListener {
        trafficLightResult = null
    }

+    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+        gnssInfo?.let {
+            mLocation = it
+            checkOutOfRange()
+        }
+    }
+

 }