[dev_arch_opt_3.0]

[Change]
[
1、增加控制定位HZ的回调用
]

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt

@@ -23,7 +23,7 @@ object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocati
      * @param gnssInfo
      */
     @Synchronized
-    fun invokeChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo?) {
+    fun invokeChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
         this.gnssInfo = gnssInfo
         M_LISTENERS.forEach {
             val tag = it.key

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/base/CallerBase.kt

@@ -12,9 +12,32 @@ import java.util.concurrent.ConcurrentHashMap
  */
 open class CallerBase<T : Any> {
 
-    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
+    /**
+     * 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
+     */
     protected val M_LISTENERS: ConcurrentHashMap<String, T> = ConcurrentHashMap()
 
+    /**
+     * 存储所有注册了监听的对象,并设定监听频率，invokeXXXX进行遍历回调，将信息同步,
+     */
+    protected val M_LISTENERS_HZ: ConcurrentHashMap<String, Int> = ConcurrentHashMap()
+
+    /**
+     * HZ发送，记录最后一次发送时间
+     */
+    protected val M_LISTENERS_HZ_LAST_SEND_TIME: ConcurrentHashMap<String, Long> =
+        ConcurrentHashMap()
+
+    /**
+     * 设置对应监听，指定Hz频率
+     */
+    fun setListenerHz(tag: String, hz: Int) {
+        if (M_LISTENERS_HZ.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ[tag] = hz
+    }
+
     /**
      * 添加 监听
      * @param tag 标记，用来注销监听使用