diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index a973a8c831..08a4035b99 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -88,6 +88,7 @@
+
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 2db9aab721..3b62eef43d 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,7 +4,7 @@
-
+
diff --git a/foudations/mogo-base-websocket-sdk/build.gradle b/foudations/mogo-base-websocket-sdk/build.gradle
index bc4cc643de..30bfc4afea 100644
--- a/foudations/mogo-base-websocket-sdk/build.gradle
+++ b/foudations/mogo-base-websocket-sdk/build.gradle
@@ -30,7 +30,7 @@ dependencies {
implementation fileTree(dir: "libs", include: ["*.jar"])
implementation rootProject.ext.dependencies.arouter
- implementation "com.mogo.module.carchatting:module-carchatt-socket:1.1.1"
+ implementation "com.mogo.module.carchatting:module-carchatt-socket:1.1.2"
if (Boolean.valueOf(RELEASE)) {
implementation rootProject.ext.dependencies.mogoutils
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
index 7d080b3254..a34166a694 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketConstant.java
@@ -5,13 +5,21 @@ import com.mogo.commons.debug.DebugConfig;
public class WebSocketConstant {
- private static final String HOST_DEV = "ws://62.234.196.121:14001/ws";
- private static final String HOST_QA = "ws://62.234.196.121:14001/ws";
- private static final String HOST_DEMO = "ws://62.234.196.121:14001/ws";
- private static final String HOST_RELEASE = "ws://62.234.196.121:14001/ws";
+ private static final String HOST_DEV = "ws://62.234.196.121";
+ private static final String HOST_QA = "ws://62.234.196.121";
+ private static final String HOST_DEMO = "ws://62.234.196.121";
+ private static final String HOST_RELEASE = "ws://62.234.196.121";
+// private static final String PORT = ":14001/ws";
+ public static final String PORT = ":4003/ws";
+ public static final String PROTOCOL = "ws://";
- public static String getSocketServer(){
- switch (DebugConfig.getNetMode()){
+ private static final String DOMAIN_DEV = "dzt-city.zhidaozhixing.com";
+ private static final String DOMAIN_QA = "dzt-city.zhidaozhixing.com";
+ private static final String DOMAIN_DEMO = "dzt-city.zhidaozhixing.com";
+ private static final String DOMAIN_RELEASE = "dzt-city.zhidaozhixing.com";
+
+ public static String getSocketServer() {
+ switch (DebugConfig.getNetMode()) {
case DebugConfig.NET_MODE_DEV:
return HOST_DEV;
case DebugConfig.NET_MODE_QA:
@@ -21,7 +29,25 @@ public class WebSocketConstant {
case DebugConfig.NET_MODE_RELEASE:
default:
return HOST_RELEASE;
-
}
}
+
+ public static String getDomain(){
+ switch (DebugConfig.getNetMode()) {
+ case DebugConfig.NET_MODE_DEV:
+ return DOMAIN_DEV;
+ case DebugConfig.NET_MODE_QA:
+ return DOMAIN_QA;
+ case DebugConfig.NET_MODE_DEMO:
+ return DOMAIN_DEMO;
+ case DebugConfig.NET_MODE_RELEASE:
+ default:
+ return DOMAIN_RELEASE;
+ }
+ }
+
+// public static String getSocketPort() {
+// return PORT;
+// }
+
}
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
index 098b700382..3a213991ea 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketData.java
@@ -12,6 +12,8 @@ public class WebSocketData implements Serializable {
private String data;
+ private long utcTime;
+
public long getSeq() {
return seq;
}
@@ -43,4 +45,12 @@ public class WebSocketData implements Serializable {
public void setData(String data) {
this.data = data;
}
+
+ public long getUtcTime() {
+ return utcTime;
+ }
+
+ public void setUtcTime(long utcTime) {
+ this.utcTime = utcTime;
+ }
}
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
index c8851ee786..52b33f2d5c 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketDnsManager.java
@@ -27,28 +27,30 @@ public class WebSocketDnsManager {
public void getHttpDnsIp(WebSocketDns webSocketDns) {
this.webSocketDns = webSocketDns;
IMogoHttpDns mogoHttpDns = ARouter.getInstance().navigation(IMogoHttpDns.class);
- ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getSocketServer(), true, ip -> {
+ ThreadPoolService.execute(() -> mogoHttpDns.getHttpDnsIp(WebSocketConstant.getDomain(), false, ip -> {
Logger.d(TAG, "getHttpDnsIp ip : " + ip + " , 得到Dns IP,准备回调 初始化webSocket");
this.cacheIp = ip;
- this.webSocketDns.getDnsIp(cacheIp != null ? cacheIp : WebSocketConstant.getSocketServer());
+ this.webSocketDns.getDnsIp((cacheIp != null ?
+ WebSocketConstant.PROTOCOL + ip + WebSocketConstant.PORT :
+ WebSocketConstant.getSocketServer() + WebSocketConstant.PORT));
}));
- mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getSocketServer(), () -> {
+ mogoHttpDns.addHttpDnsTtlCallback(WebSocketConstant.getDomain(), () -> {
Logger.d(TAG, "ttl callBack ,ready to getCache Dns IP");
- String dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(WebSocketConstant.getSocketServer());
+ String dnsCacheIp = mogoHttpDns.getCachedHttpDnsIps(WebSocketConstant.getDomain());
if (dnsCacheIp == null) {
return;
}
Logger.d(TAG, "获取缓存Dns IP : " + dnsCacheIp + " , 原缓存 IP ： " + cacheIp);
if (cacheIp != null && !cacheIp.equals(dnsCacheIp)) {
- this.webSocketDns.ttlIp(dnsCacheIp);
+ this.webSocketDns.ttlIp(dnsCacheIp + WebSocketConstant.PORT);
}
});
}
public interface WebSocketDns {
- void getDnsIp(String ip);
+ void getDnsIp(String url);
- void ttlIp(String ip);
+ void ttlIp(String url);
}
}
diff --git a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
index 1e9fe4263b..d0c73c3d4a 100644
--- a/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
+++ b/foudations/mogo-base-websocket-sdk/src/main/java/com/mogo/base/websocket/WebSocketManager.java
@@ -1,6 +1,7 @@
package com.mogo.base.websocket;
import android.content.Context;
+import android.os.SystemClock;
import androidx.annotation.Keep;
@@ -22,6 +23,7 @@ import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
+import static com.mogo.service.connection.WebSocketMsgType.MSG_TYPE_ACK;
import static com.mogo.service.connection.WebSocketMsgType.MSG_TYPE_DOWNLINK_CAR_DATA;
@Keep
@@ -70,18 +72,18 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
public void init(Context context, String appId) {
WebSocketDnsManager.getInstance().getHttpDnsIp(new WebSocketDnsManager.WebSocketDns() {
@Override
- public void getDnsIp(String ip) {
- Logger.d(TAG,"getDnsIp ip : " + ip);
- initWebSocket(ip);
+ public void getDnsIp(String url) {
+ Logger.d(TAG,"getDnsIp url : " + url);
+ initWebSocket(url);
}
@Override
- public void ttlIp(String ip) {
- Logger.d(TAG,"ttlIp ip : " + ip);
+ public void ttlIp(String url) {
+ Logger.d(TAG,"ttlIp url : " + url);
SocketClient.getInstance().getClientProxy().stop();
SocketClient.getInstance().getClientProxy().disConnect();
- Logger.d(TAG,"ready to re initWebSocket : " + ip);
- initWebSocket(ip);
+ Logger.d(TAG,"ready to re initWebSocket : " + url);
+ initWebSocket(url);
}
});
}
@@ -133,12 +135,13 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
Logger.d(TAG, "websocket sendMsg body = " + body);
if (handlerThread != null) {
WebSocketData webSocketData = new WebSocketData();
- webSocketData.setSeq(System.currentTimeMillis());
+ webSocketData.setSeq(computeSendMsgTime());
webSocketData.setMsgType(listener.getUpLinkType().getMsgType());
webSocketData.setSn(Utils.getSn());
- webSocketData.setData(new Gson().toJson(body));
- Logger.d(TAG,"sendMsg : " + new Gson().toJson(webSocketData));
- handlerThread.sendMsg(new Gson().toJson(webSocketData));
+ webSocketData.setData(GsonUtil.jsonFromObject(body));
+ String msg = GsonUtil.jsonFromObject(webSocketData);
+ Logger.d(TAG,"sendMsg : " + msg);
+ handlerThread.sendMsg(msg);
}
}
@@ -152,12 +155,34 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
Logger.d(TAG, "websocket onConnectOpen");
}
+ private long serverTime = 0;
+ private long receiveMsgTime = 0;
+
+ /**
+ * 服务端会在ack数据中增加服务端的时间戳{@link #serverTime}, 收到消息时，记录收到消息的时间{@link #receiveMsgTime}，收消息的时间用{@link SystemClock#elapsedRealtime()}可以避免系统时间改变造成的影响
+ * 在发送数据时，使用serverTime+(elapseRealtime()-receiveMsgTime)计算发送数据时的时间戳，这个时间戳是基本相对服务端的时间戳为基准的时间，忽略了ack下发时的时间延迟
+ *
+ * 如果{@link #serverTime}或{@link #receiveMsgTime}数据有异常，则使用{@link System#currentTimeMillis()}当做当前时间，作为容错
+ *
+ * @return 基本相对服务端的时间戳为基准的时间
+ */
+ private long computeSendMsgTime(){
+ long sendMsgTime = 0;
+ if (serverTime > 0 && receiveMsgTime > 0) {
+ sendMsgTime = serverTime + (SystemClock.elapsedRealtime() - receiveMsgTime);
+ }else{
+ sendMsgTime = System.currentTimeMillis();
+ }
+ return sendMsgTime;
+ }
+
@Override
public void handleMessage(String message) {
Logger.d(TAG, "websocket received msg = " + message);
WebSocketData webSocketData = GsonUtil.objectFromJson(message, WebSocketData.class);
int msgType = webSocketData.getMsgType();
Logger.d(TAG, "websocket received msg type = " + msgType);
+
//服务端下发数据返回，上传数据回执默认不返回
if (msgType == MSG_TYPE_DOWNLINK_CAR_DATA.getMsgType()) {
List listeners = mListeners.get(msgType);
@@ -172,6 +197,12 @@ public class WebSocketManager implements IMogoWebSocketManager, ISocketMsgSettin
}
}
}
+ } else if (msgType == MSG_TYPE_ACK.getMsgType()) {
+ if (webSocketData.getUtcTime() > 0) {
+ serverTime = webSocketData.getUtcTime();
+ receiveMsgTime = SystemClock.elapsedRealtime();
+ Logger.d(TAG, "设置serverTime");
+ }
}
}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
index e6ea7dcfdd..02f0b43109 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/CloudLocationInfo.java
@@ -3,6 +3,8 @@ package com.mogo.module.common.entity;
import android.os.Parcel;
import android.os.Parcelable;
+import java.util.Objects;
+
/**
* 云端定位信息和自车定位信息
*
@@ -17,7 +19,17 @@ public class CloudLocationInfo implements Parcelable {
private double alt;
private double speed;
- public CloudLocationInfo(){
+ public CloudLocationInfo() {
+ }
+
+ public CloudLocationInfo(CloudLocationInfo info) {
+ this.lat = info.getLat();
+ this.lon = info.getLon();
+ this.heading = info.getHeading();
+ this.systemTime = System.currentTimeMillis();
+ this.satelliteTime = System.currentTimeMillis();
+ this.alt = info.alt;
+ this.speed = info.speed;
}
protected CloudLocationInfo(Parcel in) {
@@ -126,4 +138,27 @@ public class CloudLocationInfo implements Parcelable {
", speed=" + speed +
'}';
}
+
+ public String print() {
+ return "CloudLocation{ lon: " + lon + " lat: " + lat + " heading: " + heading + " speed: "
+ + speed+"}";
+ }
+
+ @Override
+ public boolean equals(Object o) {
+ if (this == o) {
+ return true;
+ }
+ if (o == null || getClass() != o.getClass()) {
+ return false;
+ }
+ CloudLocationInfo that = (CloudLocationInfo) o;
+ return Double.compare(that.lat, lat) == 0 &&
+ Double.compare(that.lon, lon) == 0;
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(lat, lon);
+ }
}
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
index 1d9dc7439e..4931a6515f 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -17,6 +17,7 @@ import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.constraintlayout.widget.ConstraintLayout;
import androidx.constraintlayout.widget.ConstraintSet;
+import androidx.constraintlayout.widget.Group;
import com.alibaba.android.arouter.launcher.ARouter;
import com.bumptech.glide.request.RequestOptions;
@@ -257,7 +258,7 @@ public class EntranceFragment extends MvpFragment {
mApis.getSearchManagerApi().goSettings();
@@ -268,8 +269,19 @@ public class EntranceFragment extends MvpFragment{
+ if (groupFix.getVisibility() == View.VISIBLE) {
+ groupFix.setVisibility(View.GONE);
+ }else{
+ groupFix.setVisibility(View.VISIBLE);
+ }
+ return true;
+ });
}
+ groupFix = findViewById(R.id.groupFix);
+
ConstraintLayout rootView = findViewById(R.id.module_entrance_id_top_motion_layout);
if (rootView != null) {
TopViewAnimHelper.getInstance().init(rootView);
@@ -347,8 +359,6 @@ public class EntranceFragment extends MvpFragment{
+ try {
+ String times = etTimes.getText().toString().trim();
+ int fixTime = Integer.parseInt(times);
+ Logger.d(TAG, "修改上报时间间隔： " + times + " fixTime: " + fixTime);
+ if(fixTime > 0) {
+ Intent intent = new Intent("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
+ intent.putExtra("fixTime", fixTime);
+ getContext().sendBroadcast(intent);
+ TipToast.tip("已经发送修改广播");
+ }else{
+ TipToast.tip("fixTime为0，不发送广播");
+ }
+ } catch (Exception e) {
+ TipToast.tip("fixTime异常");
+ e.printStackTrace();
+ }
+ });
}
+ private EditText etTimes;
+ private Group groupFix;
+
private void enterVrMode(){
tvEnterVrMode.setVisibility(View.GONE);
mMove2CurrentLocation.setVisibility(View.GONE);
@@ -444,6 +476,7 @@ public class EntranceFragment extends MvpFragment
+
+
+
+
+
+
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index 3235cd0916..69a9d792ff 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -55,6 +55,8 @@ import com.mogo.module.service.refresh.AutoRefreshStrategy;
import com.mogo.module.service.refresh.CustomRefreshStrategy;
import com.mogo.module.service.refresh.RefreshObject;
import com.mogo.module.service.strategy.CarIconDisplayStrategy;
+import com.mogo.module.service.utils.LocationParseUtil;
+import com.mogo.module.service.utils.SimpleLocationCorrectStrategy;
import com.mogo.module.service.vrmode.VrModeController;
import com.mogo.module.service.websocket.LocationResult;
import com.mogo.module.service.websocket.OnePerSecondSendContent;
@@ -465,22 +467,29 @@ public class MogoServices implements IMogoMapListener,
}
private void startSendCarLocationAndAdasRecognizedResult2Server(List cloudLocationInfo) {
- Location lastCarLocation = mLastCarLocation;
+// Location lastCarLocation = mLastCarLocation;
+ CloudLocationInfo lastInfo = LocationParseUtil.locationToCloudLocation(mLastCarLocation);
+ // 如果数组内容不为空，就用数组最后一个值
+ if (cloudLocationInfo != null && !cloudLocationInfo.isEmpty()) {
+ lastInfo = cloudLocationInfo.get(cloudLocationInfo.size() - 1);
+ }
LocationResult locationResult = null;
- if ( lastCarLocation != null ) {
+ if ( lastInfo != null ) {
+ // 定位点预测纠偏
+ lastInfo = SimpleLocationCorrectStrategy.getInstance().correct(lastInfo);
+ if (lastInfo == null) {
+ return;
+ }
locationResult = new LocationResult();
- locationResult.lastCoordinate = new CloudLocationInfo();
- locationResult.lastCoordinate.setAlt( lastCarLocation.getAltitude() );
- locationResult.lastCoordinate.setHeading( lastCarLocation.getBearing() );
- locationResult.lastCoordinate.setLat( lastCarLocation.getLatitude() );
- locationResult.lastCoordinate.setLon( lastCarLocation.getLongitude() );
- locationResult.lastCoordinate.setSatelliteTime( lastCarLocation.getTime() );
- locationResult.lastCoordinate.setSystemTime( System.currentTimeMillis() );
- locationResult.lastCoordinate.setSpeed( lastCarLocation.getSpeed() );
+ locationResult.lastCoordinate = lastInfo;
locationResult.coordinates = new ArrayList<>();
locationResult.sn = com.mogo.commons.network.Utils.getSn();
- locationResult.mortonCode = MortonCode.wrapEncodeMorton( locationResult.lastCoordinate.getLon(), locationResult.lastCoordinate.getLat() );
- locationResult.coordinates.addAll( cloudLocationInfo );
+ locationResult.mortonCode = MortonCode.wrapEncodeMorton( lastInfo.getLon(), lastInfo.getLat() );
+ if(cloudLocationInfo == null){
+ locationResult.coordinates.addAll(new ArrayList<>());
+ }else {
+ locationResult.coordinates.addAll(cloudLocationInfo);
+ }
}
List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
OnePerSecondSendContent content = new OnePerSecondSendContent();
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
index b1676ccc7c..bf97d9629c 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/location/MogoRTKLocation.java
@@ -1,6 +1,9 @@
package com.mogo.module.service.location;
+import android.content.BroadcastReceiver;
import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
import android.location.Criteria;
import android.location.Location;
import android.location.LocationListener;
@@ -21,7 +24,7 @@ public class MogoRTKLocation {
private static final String TAG = "MogoRTKLocation";
private static final int MSG_DATA_CHANGED = 0x100;
- private static final long MSG_DATA_INTERNAL = 1 * 1_000L;
+ private static final long MSG_DATA_INTERNAL = 500L;
private Handler mHandler;
private LocationManager locationManager;
@@ -43,7 +46,7 @@ public class MogoRTKLocation {
super.handleMessage(msg);
if (msg.what == MSG_DATA_CHANGED) {
sendLocationData();
- mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, MSG_DATA_INTERNAL);
+ mHandler.sendEmptyMessageDelayed(MSG_DATA_CHANGED, uploadDelay);
}
}
};
@@ -57,8 +60,7 @@ public class MogoRTKLocation {
private void sendLocationData() {
if (rtkLocationListener != null) {
Logger.d(TAG, "sendLocationData size : " + cacheList.size());
- List list = new ArrayList();
- list.addAll(cacheList);
+ List list = new ArrayList<>(cacheList);
rtkLocationListener.onLocationChanged(list);
}
if (cacheList != null && cacheList.size() > 0) {
@@ -89,6 +91,10 @@ public class MogoRTKLocation {
} else {
Logger.d(TAG, "RTK LocationManager Provider GPS_PROVIDER unable");
}
+
+ // 注册修改上报间隔的广播, 临时使用，后面可直接干掉，发送广播的地方在EntranceFragment
+ IntentFilter filter = new IntentFilter("com.mogo.launcher.action.FIX_UPLOAT_DELAY");
+ AbsMogoApplication.getApp().registerReceiver(fixUploadDelayReceiver, filter);
}
private Criteria getCriteria() {
@@ -142,4 +148,15 @@ public class MogoRTKLocation {
Logger.d(TAG, "stop failed , reason : loc" + locationManager + " , or loc listener: " + locationListener + " is null");
}
}
+
+ private long uploadDelay = MSG_DATA_INTERNAL;
+
+ private FixUploadDelayReceiver fixUploadDelayReceiver = new FixUploadDelayReceiver();
+
+ private class FixUploadDelayReceiver extends BroadcastReceiver{
+ @Override
+ public void onReceive(Context context, Intent intent) {
+ uploadDelay = intent.getIntExtra("fixTime", 0);
+ }
+ }
}
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java
new file mode 100644
index 0000000000..17a20c8115
--- /dev/null
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/LocationParseUtil.java
@@ -0,0 +1,40 @@
+package com.mogo.module.service.utils;
+
+import android.location.Location;
+
+import com.mogo.map.MogoLatLng;
+import com.mogo.module.common.entity.CloudLocationInfo;
+
+/**
+ * 定位数据类型转换工具
+ *
+ * @author tongchenfei
+ */
+public class LocationParseUtil {
+ /**
+ * 从Location 转 CloudLocationInfo
+ * @param info 待转数据
+ * @return 转后数据
+ */
+ public static CloudLocationInfo locationToCloudLocation(Location info) {
+ if (info == null) {
+ return null;
+ }
+ CloudLocationInfo cloud = new CloudLocationInfo();
+ cloud.setLat(info.getLatitude());
+ cloud.setLon(info.getLongitude());
+ cloud.setAlt(info.getAltitude());
+ cloud.setHeading(info.getBearing());
+ cloud.setSpeed(info.getSpeed());
+ cloud.setSatelliteTime(info.getTime());
+ cloud.setSystemTime(System.currentTimeMillis());
+ return cloud;
+ }
+
+ public static MogoLatLng cloudLocationToMogoLatLng(CloudLocationInfo info) {
+ if (info == null) {
+ return null;
+ }
+ return new MogoLatLng(info.getLat(), info.getLon());
+ }
+}
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java
new file mode 100644
index 0000000000..cb2cf47455
--- /dev/null
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/utils/SimpleLocationCorrectStrategy.java
@@ -0,0 +1,135 @@
+package com.mogo.module.service.utils;
+
+import android.location.Location;
+import android.os.SystemClock;
+
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.entity.CloudLocationInfo;
+import com.mogo.utils.logger.Logger;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 定位预测纠错策略
+ *
+ * @author tongchenfei
+ */
+public class SimpleLocationCorrectStrategy {
+ private static final String TAG = "SimpleLocationCorrectStrategy";
+ private static final int ERR_COUNT_THRESHOLD = 3;
+ /**
+ * 目标距离误差是10米，就是在原目标距离基础上增加10米
+ */
+ private static final float TARGET_DISTANCE_DEVIATION = 10;
+
+ private CloudLocationInfo lastLocation = null;
+ private long anchorTime;
+ private int errCount;
+
+ private static SimpleLocationCorrectStrategy instance = new SimpleLocationCorrectStrategy();
+
+ public static SimpleLocationCorrectStrategy getInstance(){
+ return instance;
+ }
+
+ private List tmpList = new ArrayList<>();
+
+ public CloudLocationInfo correct(CloudLocationInfo info) {
+ Logger.d(TAG, "info: " + info.print());
+ Logger.d("tmpList", "tmpList: " + tmpList);
+ if(isLocationValid(info)) {
+ tmpList.add(info);
+ if (lastLocation == null) {
+ lastLocation = info;
+ anchorTime = SystemClock.elapsedRealtime();
+ Logger.d(TAG, "第一条数据");
+ return info;
+ }
+ if (lastLocation.equals(info)) {
+ Logger.d(TAG, "相同坐标点==");
+ return info;
+ }
+ try {
+ float targetDistance =
+ (float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
+ float distance = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().calculateLineDistance(LocationParseUtil.cloudLocationToMogoLatLng(lastLocation), LocationParseUtil.cloudLocationToMogoLatLng(info));
+ Logger.d(TAG,
+ "准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
+ if (distance <= targetDistance) {
+ // 新的定位点在目标距离范围内，认为此数据有效
+ lastLocation = info;
+ anchorTime = SystemClock.elapsedRealtime();
+ errCount = 0;
+ Logger.d(TAG, "在范围内，为有效点");
+ return info;
+ } else {
+ // 出现异常点
+ if (errCount >= ERR_COUNT_THRESHOLD) {
+ // 出错次数超过阈值，认为本次出错点为正确点
+ lastLocation = info;
+ anchorTime = SystemClock.elapsedRealtime();
+ errCount = 0;
+ Logger.d(TAG, "出错次数超限，异常点变有效点");
+ return info;
+ } else {
+ // 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
+// CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
+// nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading() * Math.PI / 180));
+// nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading() * Math.PI / 180));
+// lastLocation = nextInfo;
+ anchorTime = SystemClock.elapsedRealtime();
+ errCount++;
+ Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
+ return lastLocation;
+// return nextInfo;
+ }
+ }
+ } catch (Exception e) {
+ Logger.e(TAG, e, "纠偏异常");
+ e.printStackTrace();
+ }
+ }else{
+ Logger.d(TAG, "定位点异常");
+ if (lastLocation == null) {
+ return null;
+ }else{
+ try {
+ float targetDistance =
+ (float) (lastLocation.getSpeed() * (SystemClock.elapsedRealtime() - anchorTime) / 1000) + TARGET_DISTANCE_DEVIATION;
+ float distance = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().calculateLineDistance(LocationParseUtil.cloudLocationToMogoLatLng(lastLocation), LocationParseUtil.cloudLocationToMogoLatLng(info));
+ Logger.d(TAG,
+ "异常定位点\n准备计算{ lastInfo: " + lastLocation.print() + " info: " + info.print() + " targetDistance: " + targetDistance + " distance : " + distance + "}");
+ // 按照上一个点的方向和速度，计算下一个点的位置，下一个点除坐标点外，其余数据与上一个点相同
+// CloudLocationInfo nextInfo = new CloudLocationInfo(lastLocation);
+// nextInfo.setLon(targetDistance * Math.sin(lastLocation.getHeading()));
+// nextInfo.setLat(targetDistance * Math.cos(lastLocation.getHeading()));
+// lastLocation = nextInfo;
+ anchorTime = SystemClock.elapsedRealtime();
+ errCount++;
+ Logger.d(TAG, "异常点纠偏 info: " + lastLocation);
+// return nextInfo;
+ return lastLocation;
+ }catch (Exception e){
+ Logger.e(TAG, e, "纠偏异常");
+ e.printStackTrace();
+ }
+ }
+ }
+ return null;
+ }
+
+ private boolean isLocationValid(CloudLocationInfo info) {
+ return info.getLat() != 0 && info.getLon() != 0;
+ }
+
+ private float getDistance(CloudLocationInfo lastInfo, CloudLocationInfo info) {
+ float[] results=new float[1];
+ try{
+ Location.distanceBetween(lastInfo.getLat(), lastInfo.getLon(), info.getLat(), info.getLon(), results);
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+ return results[0]*1000;
+ }
+}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java b/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
index b0a113d31d..27635e97e7 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/connection/WebSocketMsgType.java
@@ -3,7 +3,8 @@ package com.mogo.service.connection;
public enum WebSocketMsgType {
MSG_TYPE_UPLINK_CAR_DATA(0,"自车与ADAS数据"),
- MSG_TYPE_DOWNLINK_CAR_DATA(1,"服务端下发车辆信息");
+ MSG_TYPE_DOWNLINK_CAR_DATA(1,"服务端下发车辆信息"),
+ MSG_TYPE_ACK(3, "ACK");
private int msgType;
private String msg;