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Merge branch 'dev_arch_opt_3.0' into dev_opt_2.15.0

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This commit is contained in:
lixiaopeng
2023-03-21 11:05:40 +08:00
parent a1e028634e aa20488ad7
commit 6596dfc5dd
8 changed files with 102 additions and 101 deletions
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68
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt
View File

@@ -18,7 +18,7 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
private const val TAG = "CallerChassisLocationGCJ20ListenerManager"
@Volatile
private var mGnssInfo: MogoLocation? = null
private var mGnssInfo: MogoLocation = MogoLocation()
/**
* 添加监听并指定回掉频率
@@ -35,8 +35,8 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
setListenerHz(tag, callBackHz)
}
fun getChassisLocationGCJ02(): MogoLocation? {
return mGnssInfo
fun getChassisLocationGCJ02(): MogoLocation {
return mGnssInfo.clone()
}
/**
@@ -46,46 +46,42 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
@Synchronized
fun invokeChassisLocationGCJ02(gnssInfo: MogoLocation?, sourceType: DataSourceType) {
gnssInfo?.let {
// 克隆定位数据，防止原数据被篡改导致位置跳变
mGnssInfo = gnssInfo.clone()
// 转换 WGS84-->GCJ02 坐标
val gcj20Location =
CoordinateTransform.WGS84ToGCJ02(gnssInfo.longitude, gnssInfo.latitude)
mGnssInfo?.let {
mGnssInfo!!.longitude = gcj20Location[0]
mGnssInfo!!.latitude = gcj20Location[1]
// 克隆定位数据，防止原数据被篡改导致位置跳变
mGnssInfo = gnssInfo.copy(gnssInfo, gcj20Location[0], gcj20Location[1])
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, mGnssInfo!!, sourceType)
}
} else {
syncLocationCallback(tag, it, mGnssInfo!!, sourceType)
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, mGnssInfo, sourceType)
}
} else {
//Logger.d(TAG, "没设置监听频率，使用默认5HZ")
val hzTime = (1.0 / 5) * 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, mGnssInfo!!, sourceType)
}
} else {
syncLocationCallback(tag, it, mGnssInfo!!, sourceType)
syncLocationCallback(tag, it, mGnssInfo, sourceType)
}
} else {
//Logger.d(TAG, "没设置监听频率，使用默认5HZ")
val hzTime = (1.0 / 5) * 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, mGnssInfo, sourceType)
}
} else {
syncLocationCallback(tag, it, mGnssInfo, sourceType)
}
}
}

2
core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt
View File

@@ -17,7 +17,7 @@ object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocati
private var mGnssInfo: MogoLocation = MogoLocation()
fun getChassisLocationWGS84(): MogoLocation {
return mGnssInfo
return mGnssInfo.clone()
}
/**