[6.3.0]

[common 添加轨迹统一处理问题件、]
2024-03-22 11:24:54 +08:00
parent 6d4dc7bfaa
commit 84fb397e44
13 changed files with 508 additions and 79 deletions
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
@@ -13,7 +13,6 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

 import com.alibaba.android.arouter.launcher.ARouter;
-import com.amap.api.maps.model.LatLng;
 import com.elegant.network.utils.GsonUtil;
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener;
 import com.mogo.commons.AbsMogoApplication;
@@ -26,11 +25,9 @@ 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.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -42,7 +39,6 @@ import com.mogo.eagle.core.utilcode.util.StringUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.R;
-import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
 import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.BusRoutesResult;
 import com.mogo.och.bus.bean.BusStationBean;
@@ -68,9 +64,11 @@ import com.mogo.och.common.module.biz.provider.LoginService;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
 import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.autopilot.ArrivedStation;
+import com.mogo.och.common.module.manager.autopilotmanager.trajectory.ITrajectoryListListener;
+import com.mogo.och.common.module.manager.autopilotmanager.trajectory.TrajectoryManager;
 import com.mogo.och.common.module.manager.distancemamager.ITrajectoryListener;
 import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager;
-import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.DateTimeUtil;
 import com.mogo.och.common.module.utils.MultiRequestLimitChecker;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
@@ -86,7 +84,6 @@ import java.util.List;

 import io.reactivex.exceptions.UndeliverableException;
 import io.reactivex.plugins.RxJavaPlugins;
-import mogo.telematics.pad.MessagePad;

 /**
 * @author congtaowang
@@ -120,8 +117,6 @@ public class OrderModel {
    private IPassengerCallback mPassengerCallback; //乘客核销回调
    private IBusADASStatusCallback mADASStatusCallback;

-    List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
-
    private volatile boolean isArrivedStation = false;

    //0: 代表没有启动过 1代表是启动第一次，当>=1 代表是重试  每次到站/路线结束清空置为0
@@ -159,8 +154,7 @@ public class OrderModel {

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

-        //自动驾驶路线规划接口
-        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
+        TrajectoryManager.INSTANCE.addTrajectoryListListenerr(TAG,iTrajectoryListener);

        //开启自驾后 异常信息返回
        OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener);
@@ -272,36 +266,22 @@ public class OrderModel {
    private final ITrajectoryListener trajectoryListener = (routeArrivied, routeArriving, location) -> {

    };
-    private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() {
+
+
+    private final ITrajectoryListListener iTrajectoryListener = new ITrajectoryListListener() {

        @Override
-        public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
-            if (null != routeList && routeList.getWayPointsList().size() > 0) {
-                points.clear();
-                points.addAll(coordinateConverterWgsToGcjList(mContext, routeList.getWayPointsList()));
-                updateOrderRoute();
-            }
+        public void trajectoryCallback(@NonNull List<MogoLocation> trajectoryList) {
+            updateOrderRoute(trajectoryList);
        }
-
    };

-    public static List<BusRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext, List<MessagePad.Location> mogoLatLngList) {
-        List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();
-        for (MessagePad.Location m : mogoLatLngList) {
-            LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
-            BusRoutePlanningUpdateReqBean.Result result = new BusRoutePlanningUpdateReqBean.Result();
-            result.latitude = mogoLatLng.latitude;
-            result.longitude = mogoLatLng.longitude;
-            points.add(result);
-        }
-        return points;
-    }

    /**
     * 上报订单全路径规划数据
     */
-    public void updateOrderRoute() {
-        if (!isGoingToNextStation || backgroundCurrentStationIndex + 1 >= stationList.size() || points.size() == 0) {
+    public void updateOrderRoute(List<MogoLocation> trajectoryList) {
+        if (!isGoingToNextStation || backgroundCurrentStationIndex + 1 >= stationList.size() || trajectoryList.size() == 0) {
            return;
        }

@@ -309,7 +289,7 @@ public class OrderModel {
        BusStationBean nextStation = stationList.get(backgroundCurrentStationIndex + 1);

        OrderServiceManager.updateOrderRoute(mContext, currentLineId, currentStation.getSiteId()
-                , nextStation.getSiteId(), points, new OchCommonServiceCallback<BaseData>() {
+                , nextStation.getSiteId(), trajectoryList, new OchCommonServiceCallback<BaseData>() {
                    @Override
                    public void onSuccess(BaseData o) {

@@ -318,18 +298,12 @@ public class OrderModel {
                    @Override
                    public void onFail(int code, String failMsg) {
                        if (isGoingToNextStation) {//重试
-                            updateOrderRoute();
+                            updateOrderRoute(trajectoryList);
                        }
                    }
                });
    }

-    public void debugUpdateOrderRoute(List<MessagePad.Location> list) {
-        points.clear();
-        points.addAll(coordinateConverterWgsToGcjList(mContext, list));
-        updateOrderRoute();
-    }
-
    public void release() {

        startOrStopOrderLoop(false);
@@ -339,8 +313,7 @@ public class OrderModel {
        // 注销定位监听
        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);

-        //自动驾驶路线规划接口
-        CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
+        TrajectoryManager.INSTANCE.addTrajectoryListListenerr(TAG,null);
        loginService = null;

        OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
@@ -1112,7 +1085,7 @@ public class OrderModel {
     *
     * @param data
     */
-    public void onArriveAt(MessagePad.ArrivalNotification data) {
+    public void onArriveAt(ArrivedStation data) {
        if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
            CallerLogger.e(M_BUS + TAG, "行程日志-到站异常，取消后续操作结束");
            return;
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/net/OrderServiceManager.kt
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/net/OrderServiceManager.kt
@@ -6,6 +6,7 @@ import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.commons.storage.SharedPrefsMgr
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.och.bus.bean.*
 import com.mogo.och.common.module.biz.constant.OchCommonConst
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
@@ -330,15 +331,22 @@ object OrderServiceManager {
        lineId: Int,
        startSiteId: Int,
        endSiteId: Int,
-        points: List<BusRoutePlanningUpdateReqBean.Result?>?,
+        points: List<MogoLocation>,
        callback: OchCommonServiceCallback<BaseData>?
    ) {
+        val pointsResult = mutableListOf<BusRoutePlanningUpdateReqBean.Result>()
+        points.forEach {
+            val result =  BusRoutePlanningUpdateReqBean.Result()
+            result.latitude = it.latitude;
+            result.longitude = it.longitude;
+            pointsResult.add(result);
+        }
        if (DebugConfig.getProjectFlavor().contains("saas")){
            M_SAAS_SERVICE.updateOrderRoute(
                MoGoAiCloudClientConfig.getInstance().serviceAppId,
                SharedPrefsMgr.getInstance().token,
                BusRoutePlanningUpdateReqBean(
-                    SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, points
+                    SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, pointsResult
                )
            )
                .transformTry()
@@ -348,7 +356,7 @@ object OrderServiceManager {
                MoGoAiCloudClientConfig.getInstance().serviceAppId,
                SharedPrefsMgr.getInstance().token,
                BusRoutePlanningUpdateReqBean(
-                    SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, points
+                    SharedPrefsMgr.getInstance().sn, lineId, startSiteId, endSiteId, pointsResult
                )
            )
                .transformTry()
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -10,7 +10,6 @@ import androidx.lifecycle.LifecycleOwner;

 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
-import com.mogo.commons.voice.AIAssist;
 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;
@@ -32,6 +31,9 @@ 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.autopilotmanager.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilotmanager.autopilot.ArrivedStation;
+import com.mogo.och.common.module.manager.autopilotmanager.autopilot.IOchAutopilotStatusListener;
+import com.mogo.och.common.module.manager.autopilotmanager.autopilot.OchAutoPilotStatusListenerManager;
 import com.zhjt.mogo.adas.data.AdasConstants;

 import java.util.ArrayList;
@@ -47,7 +49,7 @@ import system_master.SystemStatusInfo;
 */
 public class BusPresenter extends Presenter<BusFragment>
        implements IRefreshBusStationsCallback, ISlidePannelHideCallback
-        , IMoGoAutopilotStatusListener, IBusControllerStatusCallback, ILoginCallback, IPassengerCallback, IBusADASStatusCallback {
+        , IBusControllerStatusCallback, ILoginCallback, IPassengerCallback, IBusADASStatusCallback, IOchAutopilotStatusListener {

    private static final String TAG = "BusPresenter";

@@ -57,7 +59,7 @@ public class BusPresenter extends Presenter<BusFragment>
    public BusPresenter(BusFragment view) {
        super(view);
        //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
-        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
+        OchAutoPilotStatusListenerManager.INSTANCE.addListener(TAG,this);
        OrderModel.getInstance().init();
        OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp());
    }
@@ -149,9 +151,9 @@ public class BusPresenter extends Presenter<BusFragment>
    }

    @Override
-    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
+    public void onAutopilotArriveAtStation(ArrivedStation arrivedStation) {
        CallerLogger.e( M_BUS + TAG, "行程日志-onAutopilotArriveAtStation arrive");
-        OrderModel.getInstance().onArriveAt(arrivalNotification);
+        OrderModel.getInstance().onArriveAt(arrivedStation);
    }

    @Override
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java
@@ -37,7 +37,6 @@ public class BDRouteDataTestUtils {
                builder.setLongitude(s.getDouble("lon"));
                list.add(builder.build());
            }
-            OrderModel.getInstance().debugUpdateOrderRoute(list);
        } catch (JSONException e) {
            e.printStackTrace();
        }
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/ArrivedStation.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/ArrivedStation.java
@@ -0,0 +1,31 @@
+package com.mogo.och.common.module.manager.autopilotmanager.autopilot;
+
+import com.mogo.eagle.core.data.map.MogoLocation;
+
+import mogo.telematics.pad.MessagePad;
+
+public class ArrivedStation {
+
+    public ArrivedStation(MogoLocation mogoLocation) {
+        this.mogoLocation = mogoLocation;
+    }
+
+    private MogoLocation mogoLocation;
+
+    public MogoLocation getEndLocation(){
+        return mogoLocation;
+    }
+
+    public static ArrivedStation trasform(MessagePad.ArrivalNotification arrivalNotification){
+        MogoLocation mogoLocation = new MogoLocation();
+        MessagePad.Location endLocation = arrivalNotification.getEndLocation();
+        if(endLocation==null){
+            return null;
+        }
+        mogoLocation.setLongitude(endLocation.getLongitude());
+        mogoLocation.setLatitude(endLocation.getLatitude());
+
+        return new ArrivedStation(mogoLocation);
+    }
+
+}
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/IOchAutopilotStatusListener.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/IOchAutopilotStatusListener.kt
@@ -0,0 +1,90 @@
+package com.mogo.och.common.module.manager.autopilotmanager.autopilot
+
+import com.zhjt.mogo.adas.data.AdasConstants
+import mogo.telematics.pad.MessagePad
+import mogo_msg.MogoReportMsg
+import system_master.SsmInfo
+import system_master.SystemStatusInfo
+
+interface IOchAutopilotStatusListener {
+    /**
+     * 自动驾驶状态信息
+     *
+     * @param state 状态信息
+     */
+    fun onAutopilotStatusResponse(state: Int) {}
+
+    /**
+     * 自动驾驶docker信息
+     *
+     * @param dockerVersion docker版本
+     */
+    fun onAutopilotDockerInfo(dockerVersion:String){}
+
+    /**
+     * 自动驾驶到站
+     *
+     * @param arrivalNotification 所到车站的简单信息
+     */
+    fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {}
+
+    /**
+     * 工控机获取SN
+     */
+    fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {}
+
+    /**
+     * 工控机监控节点
+     */
+    fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {}
+
+    /**
+     * 工控机连接状态回调
+     */
+    fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {}
+
+    /**
+     * 域控SSM接口接收超时
+     * 状态变动时才会回调，默认SSM状态正常
+     * @param isTimeout true：SSM接口接收超时  false：SSM接口恢复正常
+     */
+    fun onSsmReceiveTimeout(isTimeout: Boolean) {}
+
+    /**
+     * 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调
+     */
+    fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
+
+    /**
+     * 定频SSM
+     * 老版本 SSM（SystemStatusInfo.StatusInfo） HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
+     */
+    fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {}
+
+    /**
+     * 自动驾驶路线ID回调
+     */
+    fun onAutopilotRouteLineId(lineId: Long){}
+
+    companion object {
+        /**
+         * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
+         */
+        const val STATUS_AUTOPILOT_DISABLE = 0
+
+        /**
+         * 可自动驾驶，工控机连接正常，且处于人工干预状态
+         */
+        const val STATUS_AUTOPILOT_ENABLE = 1
+
+        /**
+         * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
+         */
+        const val STATUS_AUTOPILOT_RUNNING = 2
+
+        /**
+         * 平行驾驶
+         */
+        const val STATUS_PARALLEL_DRIVING = 7
+    }
+}
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -0,0 +1,103 @@
+package com.mogo.och.common.module.manager.autopilotmanager.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.och.common.module.utils.CallerBase
+import com.zhjt.mogo.adas.data.AdasConstants
+import mogo.telematics.pad.MessagePad
+import mogo_msg.MogoReportMsg
+import system_master.SsmInfo
+import system_master.SystemStatusInfo
+
+object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListener>(),IMoGoAutopilotStatusListener {
+
+    const val TAG = "OCHAutoPilotStatusListenerManager"
+    init {
+        //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    override fun onAutopilotStatusResponse(state: Int) {
+        super.onAutopilotStatusResponse(state)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotStatusResponse(state)
+        }
+    }
+
+    override fun onAutopilotDockerInfo(dockerVersion: String) {
+        super.onAutopilotDockerInfo(dockerVersion)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotDockerInfo(dockerVersion)
+        }
+    }
+
+    override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+        super.onAutopilotArriveAtStation(arrivalNotification)
+        val trasform = ArrivedStation.trasform(arrivalNotification)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotArriveAtStation(trasform)
+        }
+    }
+
+    override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
+        super.onAutopilotSNRequest(basicInfoReq)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotSNRequest(basicInfoReq)
+        }
+    }
+
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+        super.onAutopilotGuardian(guardianInfo)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotGuardian(guardianInfo)
+        }
+    }
+
+    override fun onAutopilotIpcConnectStatusChanged(
+        status: AdasConstants.IpcConnectionStatus,
+        reason: String?
+    ) {
+        super.onAutopilotIpcConnectStatusChanged(status, reason)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotIpcConnectStatusChanged(status,reason)
+        }
+    }
+
+    override fun onSsmReceiveTimeout(isTimeout: Boolean) {
+        super.onSsmReceiveTimeout(isTimeout)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSsmReceiveTimeout(isTimeout)
+        }
+    }
+
+    override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
+        super.onAutopilotStatusRespByQuery(status)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotStatusRespByQuery(status)
+        }
+    }
+
+    override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
+        super.onSystemStatus(statusInf)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSystemStatus(statusInf)
+        }
+    }
+
+    override fun onAutopilotRouteLineId(lineId: Long) {
+        super.onAutopilotRouteLineId(lineId)
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotRouteLineId(lineId)
+        }
+    }
+}
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/ITrajectoryListListener.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/ITrajectoryListListener.kt
@@ -0,0 +1,15 @@
+package com.mogo.och.common.module.manager.autopilotmanager.trajectory
+
+import com.mogo.eagle.core.data.map.MogoLocation
+
+interface ITrajectoryListListener{
+    /**
+     * @param routeArrivied 已经走过的坐标
+     * @param routeArriving 没有走过的坐标
+     * @param location 车的坐标
+     * @return
+     */
+    fun trajectoryCallback(
+        trajectoryList: MutableList<MogoLocation>,
+    )
+}
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryCache.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryCache.kt
@@ -1,4 +1,4 @@
-package com.mogo.och.common.module.manager.distancemamager
+package com.mogo.och.common.module.manager.autopilotmanager.trajectory

 import com.elegant.network.utils.GsonUtil
 import com.mogo.commons.AbsMogoApplication
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/trajectory/TrajectoryManager.kt
@@ -0,0 +1,98 @@
+package com.mogo.och.common.module.manager.autopilotmanager.trajectory
+
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
+import mogo.telematics.pad.MessagePad
+import java.util.concurrent.ConcurrentHashMap
+
+object TrajectoryManager : IMoGoPlanningRottingListener {
+    const val TAG = "TrajectoryManager"
+
+    private val distanceListeners: ConcurrentHashMap<String, ITrajectoryListListener> =
+        ConcurrentHashMap()
+
+    /**
+     * 所有轨迹点
+     */
+    @Volatile
+    var mRoutePoints = mutableListOf<MogoLocation>()
+
+    /**
+     *  0-1  1-2 2-3 各个轨迹点的距离
+     */
+    @Volatile
+    private var mRoutePointsDistance: MutableList<Float>? = ArrayList()
+
+    /**
+     * 所有轨迹点距离的和
+     */
+    @Volatile
+    private var maxDistanceAllPoint: Double = 0.0
+
+    init {
+        CallerPlanningRottingListenerManager.addListener(TAG, this)
+    }
+
+    private var lineId:Long?=0
+
+    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
+        CallerLogger.d(SceneConstant.M_OCHCOMMON + TAG, "onAutopilotRotting: 收到轨迹")
+        globalPathResp?.wayPointsList?.let {
+            if (it.size > 0) {
+                CallerLogger.d(
+                    SceneConstant.M_OCHCOMMON + TAG,
+                    "收到轨迹:轨迹个数${it.size}第一个点${it[0]}最后一个点:${it.last()} 轨迹id:${globalPathResp.lineId}"
+                )
+                @Suppress("SENSELESS_COMPARISON")
+                if (globalPathResp.lineId != null) {// 适配低版本不传递lineId
+                    if (globalPathResp.lineId == lineId) {
+                        CallerLogger.d(SceneConstant.M_OCHCOMMON + TAG, "重复轨迹")
+                        return
+                    }
+                    this.lineId = globalPathResp.lineId
+                }
+                updateRoutePoints(it)
+            }
+        }
+    }
+
+    private fun updateRoutePoints(routePoints: List<MessagePad.Location>?) {
+        mRoutePointsDistance = null
+        val latLngModels = CoordinateCalculateRouteUtil
+            .coordinateConverterWgsToGcjLocations(AbsMogoApplication.getApp(), routePoints!!)
+        mRoutePoints = latLngModels
+
+        mRoutePointsDistance = ArrayList()
+        maxDistanceAllPoint = 0.0
+        mRoutePoints.forEachIndexed { index, current ->
+            if (mRoutePoints.last() != current) {
+                val next = mRoutePoints[index + 1]
+                val distanceItem = CoordinateUtils.calculateLineDistance(
+                    current.longitude,
+                    current.latitude,
+                    next.longitude,
+                    next.latitude
+                )
+                mRoutePointsDistance?.add(distanceItem)
+                maxDistanceAllPoint += distanceItem
+            }
+        }
+        distanceListeners.forEach {
+            it.value.trajectoryCallback(mRoutePoints)
+        }
+    }
+
+    fun addTrajectoryListListenerr(tag: String, listener: ITrajectoryListListener) {
+        if (distanceListeners.containsKey(tag)) {
+            return
+        }
+        distanceListeners[tag] = listener
+    }
+
+}
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.LocationUtils
 import com.mogo.och.common.module.biz.constant.OchCommonConst
+import com.mogo.och.common.module.manager.autopilotmanager.trajectory.TrajectoryCache
 import com.mogo.och.common.module.manager.loopmanager.BizLoopManager
 import com.mogo.och.common.module.manager.loopmanager.LoopInfo
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt
@@ -1,27 +0,0 @@
-package com.mogo.och.common.module.manager.orderlogmanager
-
-import com.mogo.eagle.core.data.deva.chain.ChainConstant
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import com.zhjt.service.chain.ChainLog
-
-object OrderChainLogManager {
-
-    private val TAG = OrderChainLogManager::class.java.simpleName
-
-    /**
-     * @param orderInfo 订单详细信息
-     * @param changeInfo  变化信息
-     */
-    @ChainLog(
-        linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
-        linkCode = ChainConstant.CHAIN_SOURCE_OCH,
-        nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
-        paramIndexes = [0,1]
-    )
-    fun writeChainLog(orderInfo: String, changeInfo: String) {
-        d(SceneConstant.M_OCHCOMMON + TAG, orderInfo)
-        d(SceneConstant.M_OCHCOMMON + TAG, changeInfo)
-    }
-
-}
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/utils/CallerBase.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/utils/CallerBase.kt
@@ -0,0 +1,136 @@
+package com.mogo.och.common.module.utils
+
+import com.alibaba.android.arouter.facade.template.IProvider
+import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.eagle.core.function.call.CallerBusManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ * @author xiaoyuzhou
+ * @date 2023/01/04 4:02 下午
+ */
+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
+     */
+    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
+     * @param tag 订阅者标记
+     * @param callBackHz 订阅者想要接受的回调的hz频率
+     */
+    fun setListenerHz(tag: String, callBackHz: Int) {
+        if (M_LISTENERS_HZ.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ[tag] = callBackHz
+    }
+
+    /**
+     * 添加 监听
+     * @param tag 标记，用来注销监听使用
+     * @param listener 监听回调
+     */
+    fun addListener(
+        tag: String,
+        listener: T
+    ) {
+        if (M_LISTENERS.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS[tag] = listener
+        doSomeAfterAddListener(tag, listener)
+    }
+
+    /**
+     * 在添加了监听后执行
+     */
+    open fun doSomeAfterAddListener(tag: String, listener: T) {}
+
+    /**
+     * 删除监听
+     * @param tag 标记，用来注销监听使用
+     */
+    fun removeListener(tag: String) {
+        if (!M_LISTENERS.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS.remove(tag)
+
+        if (!M_LISTENERS_HZ.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ.remove(tag)
+
+        if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ_LAST_SEND_TIME.remove(tag)
+    }
+
+    /**
+     * 删除监听
+     * @param listener 要删除的监听对象
+     */
+    fun removeListener(listener: T) {
+        if (!M_LISTENERS.containsValue(listener)) {
+            return
+        }
+        M_LISTENERS.forEach {
+            if (it.value == listener) {
+                M_LISTENERS.remove(it.key)
+
+                if (!M_LISTENERS_HZ.containsKey(it.key)) {
+                    return
+                }
+                M_LISTENERS_HZ.remove(it.key)
+
+                if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(it.key)) {
+                    return
+                }
+                M_LISTENERS_HZ_LAST_SEND_TIME.remove(it.key)
+            }
+        }
+    }
+
+
+    companion object {
+        private const val TAG = "CallerBase"
+
+        @JvmStatic
+        fun <T : IProvider?> getApiInstance(clazz: Class<T>?, path: String): T {
+            var inst = CallerBusManager.get(clazz)
+            if (inst == null) {
+                synchronized(CallerBase::class.java) {
+                    inst = CallerBusManager.get(clazz)
+                    if (inst != null) {
+                        return inst
+                    }
+                    val newInst = ARouter.getInstance().build(path).navigation() as T
+                    try {
+                        CallerBusManager.registerApi(clazz, newInst)
+                        d(TAG, "keep IProvider instance to SingletonHolder: path :$path")
+                    } catch (e: Exception) {
+                        e.printStackTrace()
+                    }
+                    return newInst
+                }
+            }
+            return inst
+        }
+    }
+}