Merge branch 'dev_robotaxi-d-app-module_2110_220915_2.11.0' into dev_robotaxi-d-app-module_2110_yangyakun_2.11.0

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.autopilot.adapter
 
+import android.location.Location
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -48,6 +49,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.map.navi.MogoCarLocationChangedListenerRegister
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.bean.AutopilotAbility
@@ -77,12 +79,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //车前引导线
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
         if (HdMapBuildConfig.isMapLoaded) {
@@ -94,16 +96,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //感知物体
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onTrackedObjects(
-        header: MessagePad.Header,
-        trackedObjects: MessagePad.TrackedObjects
+            header: MessagePad.Header,
+            trackedObjects: MessagePad.TrackedObjects
     ) {
         if (HdMapBuildConfig.isMapLoaded) {
             invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as List<TrackedObject>?)
@@ -112,12 +114,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //自车定位信息
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) {
         invokeAutopilotCarStateData(gnssInfo)
@@ -127,9 +129,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
                 // 同步更新经纬度和系统时间至 AutoPilotStatusListener
                 CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
-                    gnssInfo.satelliteTime,
-                    gnssInfo.longitude,
-                    gnssInfo.latitude
+                        gnssInfo.satelliteTime,
+                        gnssInfo.longitude,
+                        gnssInfo.latitude
                 )
             }
         }
@@ -137,16 +139,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //自车状态(底盘)，车灯等。
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onVehicleState(
-        header: MessagePad.Header,
-        vehicleState: VehicleStateOuterClass.VehicleState?
+            header: MessagePad.Header,
+            vehicleState: VehicleStateOuterClass.VehicleState?
     ) {
 
         if (vehicleState != null) {
@@ -172,16 +174,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //自动驾驶状态
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onAutopilotState(
-        header: MessagePad.Header,
-        autopilotState: MessagePad.AutopilotState?
+            header: MessagePad.Header,
+            autopilotState: MessagePad.AutopilotState?
     ) {
         if (autopilotState != null) {
             //工控机模拟时间
@@ -216,16 +218,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //监控
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onReportMessage(
-        header: MessagePad.Header,
-        mogoReportMessage: MogoReportMsg.MogoReportMessage?
+            header: MessagePad.Header,
+            mogoReportMessage: MogoReportMsg.MogoReportMessage?
     ) {
         if (HdMapBuildConfig.isMapLoaded) {
             invokeAutopilotGuardian(mogoReportMessage)
@@ -234,27 +236,27 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //感知红绿灯
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onPerceptionTrafficLight(
-        header: MessagePad.Header?,
-        trafficLights: TrafficLightOuterClass.TrafficLights?
+            header: MessagePad.Header?,
+            trafficLights: TrafficLightOuterClass.TrafficLights?
     ) {
         if (trafficLights != null) {
             CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
-                trafficLights
+                    trafficLights
             )
         }
     }
 
     override fun onPredictionObstacleTrajectory(
-        header: MessagePad.Header?,
-        predictionObjects: Prediction.mPredictionObjects?
+            header: MessagePad.Header?,
+            predictionObjects: Prediction.mPredictionObjects?
     ) {
         //他车轨迹预测
     }
@@ -272,16 +274,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //planning障碍物
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onPlanningObjects(
-        header: MessagePad.Header?,
-        planningObjects: MessagePad.PlanningObjects
+            header: MessagePad.Header?,
+            planningObjects: MessagePad.PlanningObjects
     ) {
         if (HdMapBuildConfig.isMapLoaded) {
             invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List<MessagePad.PlanningObject>)
@@ -289,24 +291,24 @@ class MoGoAdasListenerImpl : OnAdasListener {
     }
 
     override fun onBasicInfoReq(
-        header: MessagePad.Header,
-        basicInfoReq: MessagePad.BasicInfoReq?
+            header: MessagePad.Header,
+            basicInfoReq: MessagePad.BasicInfoReq?
     ) {
         invokeAutopilotSNRequest()
     }
 
     //工控机基础配置信息
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onCarConfigResp(
-        header: MessagePad.Header,
-        carConfigResp: MessagePad.CarConfigResp?
+            header: MessagePad.Header,
+            carConfigResp: MessagePad.CarConfigResp?
     ) {
         if (HdMapBuildConfig.isMapLoaded && carConfigResp != null) {
             AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
@@ -318,16 +320,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //全局路径规划
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onGlobalPathResp(
-        header: MessagePad.Header,
-        globalPathResp: MessagePad.GlobalPathResp?
+            header: MessagePad.Header,
+            globalPathResp: MessagePad.GlobalPathResp?
     ) {
         if (HdMapBuildConfig.isMapLoaded) {
             invokeAutopilotRotting(globalPathResp)
@@ -336,16 +338,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //数据采集，badCase
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onRecordResult(
-        header: MessagePad.Header,
-        recordPanel: RecordPanelOuterClass.RecordPanel?
+            header: MessagePad.Header,
+            recordPanel: RecordPanelOuterClass.RecordPanel?
     ) {
         if (recordPanel != null) {
             invokeAutopilotRecordResult(recordPanel)
@@ -367,16 +369,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //到站回调
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onArrivalNotification(
-        header: MessagePad.Header,
-        arrivalNotification: MessagePad.ArrivalNotification?
+            header: MessagePad.Header,
+            arrivalNotification: MessagePad.ArrivalNotification?
     ) {
         if (HdMapBuildConfig.isMapLoaded) {
             invokeArriveAtStation(arrivalNotification)
@@ -385,16 +387,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //状态查询应答
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onStatusQueryResp(
-        header: MessagePad.Header?,
-        statusInfo: SystemStatusInfo.StatusInfo?
+            header: MessagePad.Header?,
+            statusInfo: SystemStatusInfo.StatusInfo?
     ) {
         invokeAutopilotStatusRespByQuery(statusInfo)
     }
@@ -403,8 +405,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * 数据采集配置应答
      */
     override fun onRecordDataConfigResp(
-        header: MessagePad.Header?,
-        config: MessagePad.RecordDataConfig?
+            header: MessagePad.Header?,
+            config: MessagePad.RecordDataConfig?
     ) {
 
     }
@@ -413,16 +415,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * planning决策状态, 透传
      */
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
-        linkCode = CHAIN_LINK_ADAS,
-        endpoint = PAD,
-        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
-        paramIndexes = [0, 1],
-        clientPkFileName = "sn"
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
     )
     override fun onPlanningActionMsg(
-        header: MessagePad.Header?,
-        planningActionMsg: MessagePad.PlanningActionMsg?
+            header: MessagePad.Header?,
+            planningActionMsg: MessagePad.PlanningActionMsg?
     ) {
         planningActionMsg?.let {
             invokePNCActions(it)